[
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_d4b84e9767a6435bb90bad4cc47b4395_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478552112407.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478552104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478552120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478552137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478552147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478552128113.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 right of the ego vehicle, pedestrians crossing the road to the front of the ego vehicle, and a blue sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,492.5,512.5>, <c2,CAM_FRONT,882.5,586.7>, and <c3,CAM_BACK,803.8,580.9>."
            }
        ]
    },
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_d4b84e9767a6435bb90bad4cc47b4395_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478552112407.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478552104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478552120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478552137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478552147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478552128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,882.5,586.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_d4b84e9767a6435bb90bad4cc47b4395_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478552112407.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478552104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478552120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478552137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478552147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478552128113.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 <c2,CAM_FRONT,882.5,586.7>. The object is going ahead, so the ego vehicle should slow down and go ahead. Secondly, notice that <c1,CAM_FRONT_RIGHT,492.5,512.5>. The object is stationary, so the ego vehicle should slow down and go ahead. Thirdly, notice that <c3,CAM_BACK,803.8,580.9>. The object is going ahead, so the ego vehicle should slow down and go ahead."
            }
        ]
    },
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_d4b84e9767a6435bb90bad4cc47b4395_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478552112407.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478552104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478552120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478552137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478552147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478552128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,492.5,512.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_d4b84e9767a6435bb90bad4cc47b4395_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478552112407.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478552104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478552120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478552137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478552147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478552128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,492.5,512.5>? 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": "20ec831deb0f44e397497198cbe5a97c_d4b84e9767a6435bb90bad4cc47b4395_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478552112407.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478552104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478552120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478552137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478552147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478552128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,492.5,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_d4b84e9767a6435bb90bad4cc47b4395_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478552112407.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478552104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478552120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478552137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478552147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478552128113.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_d4b84e9767a6435bb90bad4cc47b4395_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478552112407.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478552104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478552120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478552137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478552147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478552128113.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 slowly."
            }
        ]
    },
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_5937faeeeb7d40b4903a441b0b95b204_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478568862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478568854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478568870566.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478568887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478568897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478568878113.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 gray SUV to the back of the ego vehicle, a white arrow to the front of the ego vehicle, and a black traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,861.7,555.8>, <c2,CAM_BACK,815.8,613.3>, <c3,CAM_FRONT,884.9,726.8>, and <c4,CAM_FRONT,1079.4,382.4>."
            }
        ]
    },
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_5937faeeeb7d40b4903a441b0b95b204_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478568862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478568854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478568870566.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478568887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478568897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478568878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,861.7,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_5937faeeeb7d40b4903a441b0b95b204_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478568862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478568854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478568870566.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478568887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478568897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478568878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,861.7,555.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_5937faeeeb7d40b4903a441b0b95b204_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478568862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478568854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478568870566.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478568887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478568897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478568878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,861.7,555.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to decelerate gradually without braking. The reason for this action is to maintain a safe distance, which is high."
            }
        ]
    },
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_5937faeeeb7d40b4903a441b0b95b204_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478568862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478568854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478568870566.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478568887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478568897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478568878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,861.7,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_5937faeeeb7d40b4903a441b0b95b204_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478568862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478568854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478568870566.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478568887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478568897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478568878113.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, and turn right."
            }
        ]
    },
    {
        "id": "20ec831deb0f44e397497198cbe5a97c_5937faeeeb7d40b4903a441b0b95b204_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478568862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478568854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478568870566.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478568887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478568897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478568878113.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": "dc8302cfccdb4812a0a4a60dde595e18_8df231ca7c054b468a04e170ca5dc266_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657293612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657293604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657293620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657293637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657293647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657293628113.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 construction vehicle to the front right of the ego vehicle, a person riding a bicycle to the front of the ego vehicle, and a black small sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1410.0,328.3>, <c2,CAM_FRONT,1169.2,563.3>, and <c3,CAM_BACK,863.3,533.3>."
            }
        ]
    },
    {
        "id": "dc8302cfccdb4812a0a4a60dde595e18_8df231ca7c054b468a04e170ca5dc266_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657293612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657293604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657293620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657293637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657293647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657293628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1169.2,563.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "dc8302cfccdb4812a0a4a60dde595e18_8df231ca7c054b468a04e170ca5dc266_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657293612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657293604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657293620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657293637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657293647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657293628113.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 <c2,CAM_FRONT,1169.2,563.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_RIGHT,1410.0,328.3>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,863.3,533.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "dc8302cfccdb4812a0a4a60dde595e18_8df231ca7c054b468a04e170ca5dc266_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657293612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657293604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657293620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657293637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657293647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657293628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1410.0,328.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "dc8302cfccdb4812a0a4a60dde595e18_8df231ca7c054b468a04e170ca5dc266_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657293612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657293604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657293620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657293637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657293647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657293628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1410.0,328.3>? 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": "dc8302cfccdb4812a0a4a60dde595e18_8df231ca7c054b468a04e170ca5dc266_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657293612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657293604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657293620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657293637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657293647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657293628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1410.0,328.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "dc8302cfccdb4812a0a4a60dde595e18_8df231ca7c054b468a04e170ca5dc266_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657293612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657293604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657293620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657293637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657293647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657293628113.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "dc8302cfccdb4812a0a4a60dde595e18_8df231ca7c054b468a04e170ca5dc266_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657293612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657293604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657293620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657293637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657293647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657293628113.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": "dc8302cfccdb4812a0a4a60dde595e18_10ecc2d3abc047ee86a5b983dad78e04_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657291012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657291004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657291020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657291037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657291047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657291028113.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 clothes to the front left of the ego vehicle, a person riding a bicycle to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,929.2,526.7>, <c2,CAM_FRONT,1159.2,553.3>, and <c3,CAM_BACK,868.3,511.7>."
            }
        ]
    },
    {
        "id": "dc8302cfccdb4812a0a4a60dde595e18_10ecc2d3abc047ee86a5b983dad78e04_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657291012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657291004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657291020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657291037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657291047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657291028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,929.2,526.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "dc8302cfccdb4812a0a4a60dde595e18_10ecc2d3abc047ee86a5b983dad78e04_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657291012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657291004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657291020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657291037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657291047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657291028113.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 <c2,CAM_FRONT,1159.2,553.3>. The object is going ahead, so the ego vehicle should slightly offset to the left in maneuvering. Secondly, notice that <c1,CAM_FRONT_LEFT,929.2,526.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,868.3,511.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "dc8302cfccdb4812a0a4a60dde595e18_10ecc2d3abc047ee86a5b983dad78e04_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657291012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657291004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657291020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657291037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657291047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657291028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,929.2,526.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "dc8302cfccdb4812a0a4a60dde595e18_10ecc2d3abc047ee86a5b983dad78e04_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657291012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657291004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657291020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657291037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657291047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657291028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,929.2,526.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep going at the same speed because the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "dc8302cfccdb4812a0a4a60dde595e18_10ecc2d3abc047ee86a5b983dad78e04_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657291012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657291004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657291020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657291037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657291047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657291028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,929.2,526.7>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "dc8302cfccdb4812a0a4a60dde595e18_10ecc2d3abc047ee86a5b983dad78e04_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657291012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657291004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657291020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657291037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657291047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657291028113.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": "dc8302cfccdb4812a0a4a60dde595e18_10ecc2d3abc047ee86a5b983dad78e04_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657291012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657291004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657291020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657291037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657291047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657291028113.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": "2f9da038274a4448bdbb83f994fc6381_8a91fdc79b4b45639bc4d4211524054b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574064162600.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574064154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574064170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574064187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574064197427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574064178231.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 pickup truck to the front right of the ego vehicle, a black SUV to the back of the ego vehicle, and pedestrians crossing the road to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,744.4,507.9>, <c2,CAM_FRONT_RIGHT,642.7,562.2>, <c3,CAM_BACK,855.0,522.5>, and <c4,CAM_FRONT,351.7,544.2>."
            }
        ]
    },
    {
        "id": "2f9da038274a4448bdbb83f994fc6381_8a91fdc79b4b45639bc4d4211524054b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574064162600.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574064154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574064170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574064187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574064197427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574064178231.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,855.0,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2f9da038274a4448bdbb83f994fc6381_8a91fdc79b4b45639bc4d4211524054b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574064162600.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574064154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574064170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574064187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574064197427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574064178231.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,744.4,507.9> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2f9da038274a4448bdbb83f994fc6381_8a91fdc79b4b45639bc4d4211524054b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574064162600.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574064154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574064170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574064187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574064197427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574064178231.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,744.4,507.9>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "2f9da038274a4448bdbb83f994fc6381_8a91fdc79b4b45639bc4d4211524054b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574064162600.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574064154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574064170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574064187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574064197427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574064178231.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,744.4,507.9>?"
            },
            {
                "from": "gpt",
                "value": "No actions taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,744.4,507.9>."
            }
        ]
    },
    {
        "id": "2f9da038274a4448bdbb83f994fc6381_8a91fdc79b4b45639bc4d4211524054b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574064162600.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574064154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574064170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574064187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574064197427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574064178231.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 ahead."
            }
        ]
    },
    {
        "id": "2f9da038274a4448bdbb83f994fc6381_8a91fdc79b4b45639bc4d4211524054b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574064162600.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574064154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574064170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574064187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574064197427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574064178231.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": "2f9da038274a4448bdbb83f994fc6381_73747ad5963440dea499945266787295_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574061262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574061254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574061270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574061287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574061297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574061278113.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 sedan to the front left of the ego vehicle, a blue sedan to the front right of the ego vehicle, a black SUV to the back of the ego vehicle, and pedestrians crossing the road to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,703.8,510.5>, <c2,CAM_FRONT_LEFT,1298.3,535.8>, <c3,CAM_FRONT_RIGHT,891.7,745.8>, <c4,CAM_BACK,862.5,494.2>, and <c5,CAM_FRONT,750.8,505.0>."
            }
        ]
    },
    {
        "id": "2f9da038274a4448bdbb83f994fc6381_73747ad5963440dea499945266787295_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574061262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574061254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574061270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574061287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574061297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574061278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,862.5,494.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2f9da038274a4448bdbb83f994fc6381_73747ad5963440dea499945266787295_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574061262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574061254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574061270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574061287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574061297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574061278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,703.8,510.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2f9da038274a4448bdbb83f994fc6381_73747ad5963440dea499945266787295_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574061262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574061254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574061270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574061287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574061297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574061278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,703.8,510.5>? 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": "2f9da038274a4448bdbb83f994fc6381_73747ad5963440dea499945266787295_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574061262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574061254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574061270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574061287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574061297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574061278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,703.8,510.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "2f9da038274a4448bdbb83f994fc6381_73747ad5963440dea499945266787295_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574061262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574061254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574061270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574061287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574061297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574061278113.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": "Accelerate and go ahead, keeping going at the same speed, are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "2f9da038274a4448bdbb83f994fc6381_73747ad5963440dea499945266787295_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574061262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574061254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574061270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574061287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574061297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574061278113.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": "cf550d9670274ac1a7f274fbacb39c48_cca4562b799b4fbe84bb8599ae816638_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402160162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402160154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402160170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402160187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402160197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402160177893.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, an orange construction vehicle to the front right of the ego vehicle, and a worker wearing a yellow safety helmet to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,988.3,480.0>, <c2,CAM_FRONT_RIGHT,671.8,416.2>, and <c3,CAM_FRONT,1173.3,570.8>."
            }
        ]
    },
    {
        "id": "cf550d9670274ac1a7f274fbacb39c48_cca4562b799b4fbe84bb8599ae816638_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402160162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402160154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402160170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402160187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402160197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402160177893.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 <c2,CAM_FRONT_RIGHT,671.8,416.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,1173.3,570.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT,988.3,480.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "cf550d9670274ac1a7f274fbacb39c48_cca4562b799b4fbe84bb8599ae816638_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402160162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402160154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402160170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402160187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402160197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402160177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,988.3,480.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cf550d9670274ac1a7f274fbacb39c48_cca4562b799b4fbe84bb8599ae816638_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402160162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402160154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402160170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402160187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402160197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402160177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,988.3,480.0>? 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": "cf550d9670274ac1a7f274fbacb39c48_cca4562b799b4fbe84bb8599ae816638_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402160162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402160154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402160170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402160187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402160197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402160177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,988.3,480.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "cf550d9670274ac1a7f274fbacb39c48_cca4562b799b4fbe84bb8599ae816638_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402160162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402160154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402160170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402160187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402160197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402160177893.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": "cf550d9670274ac1a7f274fbacb39c48_cca4562b799b4fbe84bb8599ae816638_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402160162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402160154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402160170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402160187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402160197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402160177893.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": "cf550d9670274ac1a7f274fbacb39c48_419a20a0dc194c22b5db52b1208357bc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402161162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402161154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402161170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402161187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402161198004.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402161177893.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 tanker truck to the front of the ego vehicle, a man wearing a safety helmet to the front right of the ego vehicle, and a man wearing a helmet to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1165.8,470.0>, <c2,CAM_FRONT_RIGHT,727.8,650.7>, and <c3,CAM_BACK_RIGHT,170.8,633.5>."
            }
        ]
    },
    {
        "id": "cf550d9670274ac1a7f274fbacb39c48_419a20a0dc194c22b5db52b1208357bc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402161162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402161154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402161170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402161187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402161198004.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402161177893.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 <c1,CAM_FRONT,1165.8,470.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT_RIGHT,727.8,650.7>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK_RIGHT,170.8,633.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "cf550d9670274ac1a7f274fbacb39c48_419a20a0dc194c22b5db52b1208357bc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402161162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402161154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402161170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402161187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402161198004.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402161177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1165.8,470.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cf550d9670274ac1a7f274fbacb39c48_419a20a0dc194c22b5db52b1208357bc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402161162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402161154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402161170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402161187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402161198004.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402161177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1165.8,470.0>? 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": "cf550d9670274ac1a7f274fbacb39c48_419a20a0dc194c22b5db52b1208357bc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402161162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402161154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402161170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402161187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402161198004.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402161177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1165.8,470.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "cf550d9670274ac1a7f274fbacb39c48_419a20a0dc194c22b5db52b1208357bc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402161162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402161154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402161170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402161187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402161198004.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402161177893.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."
            }
        ]
    },
    {
        "id": "cf550d9670274ac1a7f274fbacb39c48_419a20a0dc194c22b5db52b1208357bc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402161162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402161154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402161170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402161187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402161198004.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402161177893.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": "19f47b8941094af29b8db20b255717fc_68af87fd76de449080e48aead76ec233_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867038862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867038854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867038870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867038887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867038897431.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867038878113.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 SUV to the back of the ego vehicle, a person riding a bicycle to the front right of the ego vehicle, a red light to the front of the ego vehicle, and a red light to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1128.3,533.3>, <c2,CAM_BACK,849.8,609.2>, <c3,CAM_FRONT_RIGHT,522.5,543.3>, <c4,CAM_FRONT,254.8,318.2>, and <c5,CAM_FRONT_LEFT,1523.4,297.3>."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_68af87fd76de449080e48aead76ec233_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867038862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867038854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867038870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867038887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867038897431.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867038878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1128.3,533.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_68af87fd76de449080e48aead76ec233_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867038862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867038854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867038870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867038887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867038897431.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867038878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1128.3,533.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_68af87fd76de449080e48aead76ec233_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867038862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867038854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867038870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867038887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867038897431.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867038878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1128.3,533.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is low."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_68af87fd76de449080e48aead76ec233_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867038862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867038854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867038870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867038887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867038897431.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867038878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1128.3,533.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_68af87fd76de449080e48aead76ec233_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867038862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867038854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867038870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867038887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867038897431.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867038878113.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, slightly offset to the left, and slightly offset to the right."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_68af87fd76de449080e48aead76ec233_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867038862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867038854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867038870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867038887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867038897431.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867038878113.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": "19f47b8941094af29b8db20b255717fc_b1b383ede56d4dcf83d2c30c122fd8d6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867040362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867040354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867040370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867040387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867040397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867040378113.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 silver SUV to the back of the ego vehicle, a pedestrian riding a bicycle to the front right of the ego vehicle, a red light to the front of the ego vehicle, and a red light to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,624.2,466.7>, <c2,CAM_BACK,821.0,607.1>, <c3,CAM_FRONT_RIGHT,542.5,538.3>, <c4,CAM_FRONT,978.4,292.5>, and <c5,CAM_FRONT_LEFT,1523.4,298.6>."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_b1b383ede56d4dcf83d2c30c122fd8d6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867040362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867040354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867040370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867040387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867040397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867040378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,624.2,466.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_b1b383ede56d4dcf83d2c30c122fd8d6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867040362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867040354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867040370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867040387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867040397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867040378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,624.2,466.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_b1b383ede56d4dcf83d2c30c122fd8d6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867040362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867040354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867040370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867040387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867040397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867040378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,624.2,466.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason is to follow the traffic rules, with a high probability."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_b1b383ede56d4dcf83d2c30c122fd8d6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867040362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867040354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867040370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867040387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867040397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867040378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,624.2,466.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,624.2,466.7>."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_b1b383ede56d4dcf83d2c30c122fd8d6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867040362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867040354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867040370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867040387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867040397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867040378113.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": "19f47b8941094af29b8db20b255717fc_b1b383ede56d4dcf83d2c30c122fd8d6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867040362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867040354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867040370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867040387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867040397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867040378113.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": "19f47b8941094af29b8db20b255717fc_0093d55144464e1b94665fc9e68b7a89_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867044912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867044904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867044920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867044937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867044947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867044928113.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 blue and red truck to the front left of the ego vehicle, a silver sedan to the back of the ego vehicle, a black van to the front right of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1235.0,476.7>, <c2,CAM_FRONT_LEFT,1270.0,450.0>, <c3,CAM_BACK,810.5,608.3>, <c4,CAM_FRONT_RIGHT,355.8,457.5>, and <c5,CAM_FRONT,983.0,380.1>."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_0093d55144464e1b94665fc9e68b7a89_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867044912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867044904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867044920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867044937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867044947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867044928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1235.0,476.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_0093d55144464e1b94665fc9e68b7a89_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867044912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867044904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867044920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867044937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867044947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867044928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1235.0,476.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_0093d55144464e1b94665fc9e68b7a89_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867044912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867044904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867044920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867044937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867044947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867044928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1235.0,476.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to brake gently to a stop. The reason is that there is no safety issue, and the probability is high."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_0093d55144464e1b94665fc9e68b7a89_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867044912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867044904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867044920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867044937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867044947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867044928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1235.0,476.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_0093d55144464e1b94665fc9e68b7a89_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867044912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867044904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867044920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867044937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867044947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867044928113.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 stop."
            }
        ]
    },
    {
        "id": "19f47b8941094af29b8db20b255717fc_0093d55144464e1b94665fc9e68b7a89_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867044912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867044904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867044920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867044937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867044947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867044928113.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": "cab845a2e8864482993ac62811f879c1_37938fd79ce148c19b56c77d3a50b994_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488172512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488172504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488172520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488172537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488172547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488172528113.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 SUV to the front left of the ego vehicle, a black SUV to the front of the ego vehicle, a red car to the back of the ego vehicle, a blue sedan to the back of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,855.0,510.0>, <c2,CAM_FRONT_LEFT,672.4,614.8>, <c3,CAM_FRONT,873.3,460.0>, <c4,CAM_BACK,1059.2,545.0>, <c5,CAM_BACK,1347.5,685.8>, and <c6,CAM_FRONT,527.3,348.8>."
            }
        ]
    },
    {
        "id": "cab845a2e8864482993ac62811f879c1_37938fd79ce148c19b56c77d3a50b994_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488172512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488172504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488172520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488172537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488172547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488172528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,855.0,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cab845a2e8864482993ac62811f879c1_37938fd79ce148c19b56c77d3a50b994_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488172512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488172504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488172520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488172537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488172547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488172528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,855.0,510.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cab845a2e8864482993ac62811f879c1_37938fd79ce148c19b56c77d3a50b994_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488172512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488172504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488172520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488172537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488172547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488172528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,855.0,510.0>? 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": "cab845a2e8864482993ac62811f879c1_37938fd79ce148c19b56c77d3a50b994_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488172512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488172504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488172520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488172537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488172547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488172528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,855.0,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "cab845a2e8864482993ac62811f879c1_37938fd79ce148c19b56c77d3a50b994_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488172512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488172504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488172520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488172537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488172547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488172528113.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, or decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "cab845a2e8864482993ac62811f879c1_37938fd79ce148c19b56c77d3a50b994_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488172512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488172504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488172520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488172537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488172547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488172528113.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": "6207269cb9474c14b01f9610b2ee30aa_c42eec2e6901462ca66b926d1154cc44_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.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 back of the ego vehicle, a white sedan to the front left of the ego vehicle, a brown car to the back of the ego vehicle, and a white sedan to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,855.0,450.8>, <c2,CAM_FRONT_LEFT,1048.3,513.3>, <c3,CAM_BACK,1498.5,519.8>, and <c4,CAM_BACK_LEFT,1033.3,545.0>."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_c42eec2e6901462ca66b926d1154cc44_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,855.0,450.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_c42eec2e6901462ca66b926d1154cc44_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,855.0,450.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_c42eec2e6901462ca66b926d1154cc44_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,855.0,450.8>? 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": "6207269cb9474c14b01f9610b2ee30aa_c42eec2e6901462ca66b926d1154cc44_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,1048.3,513.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_c42eec2e6901462ca66b926d1154cc44_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.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; brake gently to a stop."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_c42eec2e6901462ca66b926d1154cc44_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.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": "6207269cb9474c14b01f9610b2ee30aa_79eb7f6b270743769504531f8dea9025_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582501612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582501604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582501620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582501637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582501647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582501628113.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 bus to the back of the ego vehicle, a white sedan to the front right of the ego vehicle, a pedestrian wearing a black T-shirt to the front of the ego vehicle, a brown sedan to the front of the ego vehicle, and a black and white cars to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1451.7,472.5>, <c2,CAM_FRONT_RIGHT,744.2,500.8>, <c3,CAM_FRONT,1080.8,498.3>, <c4,CAM_FRONT,785.8,519.7>, and <c5,CAM_FRONT,21.7,540.8>."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_79eb7f6b270743769504531f8dea9025_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582501612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582501604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582501620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582501637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582501647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582501628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1451.7,472.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_79eb7f6b270743769504531f8dea9025_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582501612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582501604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582501620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582501637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582501647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582501628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1451.7,472.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_79eb7f6b270743769504531f8dea9025_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582501612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582501604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582501620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582501637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582501647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582501628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1451.7,472.5>? 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": "6207269cb9474c14b01f9610b2ee30aa_79eb7f6b270743769504531f8dea9025_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582501612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582501604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582501620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582501637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582501647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582501628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,744.2,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_79eb7f6b270743769504531f8dea9025_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582501612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582501604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582501620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582501637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582501647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582501628113.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": "6207269cb9474c14b01f9610b2ee30aa_79eb7f6b270743769504531f8dea9025_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582501612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582501604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582501620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582501637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582501647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582501628113.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": "6207269cb9474c14b01f9610b2ee30aa_b56b7f945ae14c079e372bfa8b261f6f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582496162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582496154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582496170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582496187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582496197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582496178113.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 back of the ego vehicle, a white sedan to the back of the ego vehicle, a white sedan to the front left of the ego vehicle, a black sedan to the back of the ego vehicle, and a silver sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,981.7,473.3>, <c2,CAM_BACK,1083.3,468.3>, <c3,CAM_FRONT_LEFT,993.3,500.8>, <c4,CAM_BACK,1488.3,503.3>, and <c5,CAM_FRONT,406.7,606.7>."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_b56b7f945ae14c079e372bfa8b261f6f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582496162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582496154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582496170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582496187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582496197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582496178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,981.7,473.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_b56b7f945ae14c079e372bfa8b261f6f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582496162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582496154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582496170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582496187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582496197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582496178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,981.7,473.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_b56b7f945ae14c079e372bfa8b261f6f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582496162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582496154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582496170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582496187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582496197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582496178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,981.7,473.3>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_b56b7f945ae14c079e372bfa8b261f6f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582496162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582496154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582496170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582496187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582496197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582496178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,981.7,473.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "6207269cb9474c14b01f9610b2ee30aa_b56b7f945ae14c079e372bfa8b261f6f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582496162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582496154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582496170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582496187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582496197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582496178113.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": "6207269cb9474c14b01f9610b2ee30aa_b56b7f945ae14c079e372bfa8b261f6f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582496162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582496154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582496170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582496187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582496197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582496178113.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": "f12b4e7fb95646ec9dac305076024bb9_ed75fc5ee5dc493197b2ac74c87bc104_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659422612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659422604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659422620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659422637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659422647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659422628113.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 left of the ego vehicle, a black sedan to the back of the ego vehicle, a construction vehicle to the front right of the ego vehicle, and a black truck to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,527.5,498.3>, <c2,CAM_BACK,911.7,648.3>, <c3,CAM_FRONT_RIGHT,804.2,425.8>, and <c4,CAM_BACK_RIGHT,1106.7,593.3>."
            }
        ]
    },
    {
        "id": "f12b4e7fb95646ec9dac305076024bb9_ed75fc5ee5dc493197b2ac74c87bc104_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659422612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659422604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659422620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659422637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659422647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659422628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,527.5,498.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f12b4e7fb95646ec9dac305076024bb9_ed75fc5ee5dc493197b2ac74c87bc104_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659422612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659422604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659422620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659422637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659422647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659422628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,527.5,498.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f12b4e7fb95646ec9dac305076024bb9_ed75fc5ee5dc493197b2ac74c87bc104_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659422612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659422604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659422620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659422637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659422647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659422628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,527.5,498.3>? 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, and the probability is high."
            }
        ]
    },
    {
        "id": "f12b4e7fb95646ec9dac305076024bb9_ed75fc5ee5dc493197b2ac74c87bc104_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659422612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659422604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659422620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659422637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659422647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659422628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,527.5,498.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "f12b4e7fb95646ec9dac305076024bb9_ed75fc5ee5dc493197b2ac74c87bc104_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659422612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659422604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659422620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659422637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659422647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659422628113.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 right, slightly offset to the left are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "f12b4e7fb95646ec9dac305076024bb9_ed75fc5ee5dc493197b2ac74c87bc104_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659422612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659422604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659422620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659422637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659422647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659422628113.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": "de7d80a1f5fb4c3e82ce8a4f213b450a_f65ffdc408fb4a0c8ef0d1614b47dce8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800853412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800853404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800853420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800853437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800853447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800853427893.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 white sedan to the front left of the ego vehicle, a walking person to the back of the ego vehicle, and a people crossing the road to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,952.9,590.0>, <c2,CAM_FRONT_LEFT,1278.2,591.7>, <c3,CAM_BACK,1140.0,580.0>, and <c4,CAM_FRONT,1027.5,580.0>."
            }
        ]
    },
    {
        "id": "de7d80a1f5fb4c3e82ce8a4f213b450a_f65ffdc408fb4a0c8ef0d1614b47dce8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800853412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800853404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800853420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800853437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800853447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800853427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,952.9,590.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "de7d80a1f5fb4c3e82ce8a4f213b450a_f65ffdc408fb4a0c8ef0d1614b47dce8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800853412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800853404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800853420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800853437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800853447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800853427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,952.9,590.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "de7d80a1f5fb4c3e82ce8a4f213b450a_f65ffdc408fb4a0c8ef0d1614b47dce8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800853412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800853404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800853420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800853437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800853447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800853427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,952.9,590.0>? 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": "de7d80a1f5fb4c3e82ce8a4f213b450a_f65ffdc408fb4a0c8ef0d1614b47dce8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800853412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800853404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800853420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800853437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800853447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800853427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,952.9,590.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "de7d80a1f5fb4c3e82ce8a4f213b450a_f65ffdc408fb4a0c8ef0d1614b47dce8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800853412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800853404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800853420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800853437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800853447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800853427893.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 turn left."
            }
        ]
    },
    {
        "id": "de7d80a1f5fb4c3e82ce8a4f213b450a_f65ffdc408fb4a0c8ef0d1614b47dce8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800853412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800853404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800853420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800853437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800853447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800853427893.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": "4098aaf3c7074e7d87285e2fc95369e0_c15cee7f58454b5884f8331d5638d2be_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279697262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279697254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279697270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279697287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279697297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279697277893.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 silver sedan to the front of the ego vehicle, a black SUV to the front left of the ego vehicle, and a blue truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1015.8,520.8>, <c2,CAM_FRONT,1257.5,499.2>, <c3,CAM_FRONT_LEFT,373.3,536.7>, and <c4,CAM_FRONT,687.5,458.3>."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_c15cee7f58454b5884f8331d5638d2be_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279697262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279697254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279697270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279697287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279697297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279697277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1015.8,520.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_c15cee7f58454b5884f8331d5638d2be_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279697262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279697254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279697270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279697287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279697297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279697277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1015.8,520.8>? 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": "4098aaf3c7074e7d87285e2fc95369e0_c15cee7f58454b5884f8331d5638d2be_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279697262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279697254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279697270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279697287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279697297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279697277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1015.8,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_c15cee7f58454b5884f8331d5638d2be_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279697262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279697254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279697270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279697287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279697297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279697277893.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": "4098aaf3c7074e7d87285e2fc95369e0_c15cee7f58454b5884f8331d5638d2be_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279697262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279697254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279697270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279697287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279697297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279697277893.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": "4098aaf3c7074e7d87285e2fc95369e0_51afbc8f65ea4411945f2505d1f00292_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279689762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279689755018.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279689770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279689787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279689797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279689777893.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 white SUV to the front right of the ego vehicle, a black sedan to the front of the ego vehicle, and a black motorcycle to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1430.8,678.3>, <c2,CAM_FRONT_RIGHT,298.3,699.1>, <c3,CAM_FRONT,226.7,476.7>, and <c4,CAM_FRONT_LEFT,802.7,558.1>."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_51afbc8f65ea4411945f2505d1f00292_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279689762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279689755018.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279689770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279689787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279689797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279689777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,298.3,699.1>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_51afbc8f65ea4411945f2505d1f00292_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279689762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279689755018.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279689770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279689787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279689797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279689777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1430.8,678.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_51afbc8f65ea4411945f2505d1f00292_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279689762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279689755018.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279689770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279689787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279689797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279689777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1430.8,678.3>? 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": "4098aaf3c7074e7d87285e2fc95369e0_51afbc8f65ea4411945f2505d1f00292_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279689762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279689755018.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279689770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279689787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279689797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279689777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,298.3,699.1>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_51afbc8f65ea4411945f2505d1f00292_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279689762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279689755018.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279689770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279689787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279689797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279689777893.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."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_51afbc8f65ea4411945f2505d1f00292_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279689762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279689755018.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279689770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279689787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279689797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279689777893.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": "4098aaf3c7074e7d87285e2fc95369e0_3aca10561cbe4178b2fdd722a0657dc4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279679612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279679604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279679620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279679637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279679647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279679627893.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 pedestrian with black short sleeves to the front of the ego vehicle, and a gray sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,605.8,480.8>, <c2,CAM_FRONT,727.5,461.7>, and <c3,CAM_FRONT,644.2,470.0>."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_3aca10561cbe4178b2fdd722a0657dc4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279679612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279679604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279679620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279679637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279679647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279679627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,727.5,461.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_3aca10561cbe4178b2fdd722a0657dc4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279679612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279679604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279679620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279679637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279679647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279679627893.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 <c1,CAM_FRONT,605.8,480.8>; the object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,727.5,461.7>; the object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,644.2,470.0>; the object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_3aca10561cbe4178b2fdd722a0657dc4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279679612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279679604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279679620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279679637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279679647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279679627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,605.8,480.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_3aca10561cbe4178b2fdd722a0657dc4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279679612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279679604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279679620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279679637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279679647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279679627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,605.8,480.8>? 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": "4098aaf3c7074e7d87285e2fc95369e0_3aca10561cbe4178b2fdd722a0657dc4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279679612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279679604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279679620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279679637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279679647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279679627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,605.8,480.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_3aca10561cbe4178b2fdd722a0657dc4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279679612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279679604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279679620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279679637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279679647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279679627893.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, slightly offset to the right."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_3aca10561cbe4178b2fdd722a0657dc4_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279679612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279679604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279679620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279679637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279679647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279679627893.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": "4098aaf3c7074e7d87285e2fc95369e0_294bdaf1cc0348339561333872b51246_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279683162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279683154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279683170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279683187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279683197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279683177894.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 left of the ego vehicle, a white sedan to the front of the ego vehicle, and a pedestrian in black top and trousers to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,990.8,475.0>, <c2,CAM_FRONT,112.5,588.3>, and <c3,CAM_FRONT,553.3,548.3>."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_294bdaf1cc0348339561333872b51246_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279683162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279683154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279683170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279683187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279683197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279683177894.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,553.3,548.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_294bdaf1cc0348339561333872b51246_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279683162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279683154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279683170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279683187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279683197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279683177894.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 <c2,CAM_FRONT,112.5,588.3>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c3,CAM_FRONT,553.3,548.3>. It is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_BACK_LEFT,990.8,475.0>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_294bdaf1cc0348339561333872b51246_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279683162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279683154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279683170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279683187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279683197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279683177894.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,990.8,475.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_294bdaf1cc0348339561333872b51246_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279683162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279683154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279683170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279683187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279683197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279683177894.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,990.8,475.0>? 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": "4098aaf3c7074e7d87285e2fc95369e0_294bdaf1cc0348339561333872b51246_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279683162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279683154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279683170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279683187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279683197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279683177894.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,990.8,475.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "4098aaf3c7074e7d87285e2fc95369e0_294bdaf1cc0348339561333872b51246_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279683162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279683154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279683170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279683187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279683197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279683177894.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": "4098aaf3c7074e7d87285e2fc95369e0_294bdaf1cc0348339561333872b51246_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279683162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279683154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279683170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279683187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279683197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279683177894.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": "fccdb073bc54449a99f033e040ad51a2_d210c7168c4341bb80f83369d7200317_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487925612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487925604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487925620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487925637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487925647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487925628113.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 right of the ego vehicle, a black SUV to the front of the ego vehicle, a gray sedan to the front of the ego vehicle, a white SUV to the front of the ego vehicle, a white sedan to the back of the ego vehicle, and a silver sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,835.8,679.7>, <c2,CAM_FRONT,729.2,500.8>, <c3,CAM_FRONT,566.7,549.2>, <c4,CAM_FRONT,1450.0,570.8>, <c5,CAM_BACK,435.0,587.5>, and <c6,CAM_BACK,648.3,527.5>."
            }
        ]
    },
    {
        "id": "fccdb073bc54449a99f033e040ad51a2_d210c7168c4341bb80f83369d7200317_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487925612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487925604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487925620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487925637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487925647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487925628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,729.2,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fccdb073bc54449a99f033e040ad51a2_d210c7168c4341bb80f83369d7200317_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487925612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487925604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487925620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487925637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487925647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487925628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,835.8,679.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fccdb073bc54449a99f033e040ad51a2_d210c7168c4341bb80f83369d7200317_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487925612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487925604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487925620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487925637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487925647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487925628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,835.8,679.7>? 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": "fccdb073bc54449a99f033e040ad51a2_d210c7168c4341bb80f83369d7200317_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487925612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487925604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487925620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487925637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487925647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487925628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,835.8,679.7>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "fccdb073bc54449a99f033e040ad51a2_d210c7168c4341bb80f83369d7200317_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487925612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487925604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487925620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487925637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487925647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487925628113.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 left lane."
            }
        ]
    },
    {
        "id": "fccdb073bc54449a99f033e040ad51a2_d210c7168c4341bb80f83369d7200317_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487925612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487925604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487925620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487925637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487925647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487925628113.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": "32bae098e2434a09af1e7983e31fbf5c_3917a7653d654fbf85c3208900dca695_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193819677893.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 front of the ego vehicle, a uncertain to the front of the ego vehicle, a uncertain to the back of the ego vehicle, and a silver SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,714.2,509.2>, <c2,CAM_FRONT,555.8,499.2>, <c3,CAM_BACK,828.3,495.8>, and <c4,CAM_FRONT,950.8,525.8>."
            }
        ]
    },
    {
        "id": "32bae098e2434a09af1e7983e31fbf5c_3917a7653d654fbf85c3208900dca695_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193819677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,714.2,509.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "32bae098e2434a09af1e7983e31fbf5c_3917a7653d654fbf85c3208900dca695_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193819677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,714.2,509.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "32bae098e2434a09af1e7983e31fbf5c_3917a7653d654fbf85c3208900dca695_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193819677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,714.2,509.2>? 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": "32bae098e2434a09af1e7983e31fbf5c_3917a7653d654fbf85c3208900dca695_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193819677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,714.2,509.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "32bae098e2434a09af1e7983e31fbf5c_3917a7653d654fbf85c3208900dca695_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193819677893.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": "32bae098e2434a09af1e7983e31fbf5c_3917a7653d654fbf85c3208900dca695_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193819677893.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": "2538a745a83f430eb590d48b4743e179_34c4795ee3934018b6413a93f8943bb6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735437528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735427893.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 shirt man to the front of the ego vehicle, a white truck to the front of the ego vehicle, a white van to the front of the ego vehicle, and a blue SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,232.9,625.8>, <c2,CAM_FRONT,770.0,472.5>, <c3,CAM_FRONT,1375.8,500.8>, and <c4,CAM_FRONT_RIGHT,1432.5,429.2>."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_34c4795ee3934018b6413a93f8943bb6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735437528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,232.9,625.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_34c4795ee3934018b6413a93f8943bb6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735437528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,232.9,625.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_34c4795ee3934018b6413a93f8943bb6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735437528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,232.9,625.8>? 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": "2538a745a83f430eb590d48b4743e179_34c4795ee3934018b6413a93f8943bb6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735437528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,232.9,625.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_34c4795ee3934018b6413a93f8943bb6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735437528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735427893.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": "2538a745a83f430eb590d48b4743e179_34c4795ee3934018b6413a93f8943bb6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735437528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735427893.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": "2538a745a83f430eb590d48b4743e179_2ca653f5215143199ec7c55841c95cd2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662729912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662729904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662729920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662729937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662729947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662729927893.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 back of the ego vehicle, a pedestrian to the front of the ego vehicle, and a straight and right turn white arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,641.7,615.8>, <c2,CAM_FRONT,1115.0,538.3>, and <c3,CAM_FRONT,1238.8,603.5>."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_2ca653f5215143199ec7c55841c95cd2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662729912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662729904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662729920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662729937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662729947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662729927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,641.7,615.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_2ca653f5215143199ec7c55841c95cd2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662729912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662729904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662729920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662729937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662729947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662729927893.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 <c2,CAM_FRONT,1115.0,538.3>. The object is going ahead, so the ego vehicle should slow down and go ahead. Secondly notice that <c3,CAM_FRONT,1238.8,603.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c1,CAM_BACK,641.7,615.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_2ca653f5215143199ec7c55841c95cd2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662729912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662729904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662729920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662729937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662729947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662729927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,641.7,615.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_2ca653f5215143199ec7c55841c95cd2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662729912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662729904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662729920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662729937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662729947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662729927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,641.7,615.8>? 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": "2538a745a83f430eb590d48b4743e179_2ca653f5215143199ec7c55841c95cd2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662729912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662729904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662729920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662729937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662729947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662729927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,641.7,615.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_2ca653f5215143199ec7c55841c95cd2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662729912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662729904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662729920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662729937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662729947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662729927893.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": "2538a745a83f430eb590d48b4743e179_2ca653f5215143199ec7c55841c95cd2_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662729912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662729904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662729920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662729937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662729947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662729927893.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": "2538a745a83f430eb590d48b4743e179_48c3125fa3854c40980d4f49d7141555_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662745862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662745854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662745870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662745887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662745897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662745877893.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 white truck to the front of the ego vehicle, a silver truck to the back right of the ego vehicle, and a silver sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,893.6,515.1>, <c2,CAM_FRONT,554.6,458.3>, <c3,CAM_BACK_RIGHT,128.8,597.5>, and <c4,CAM_BACK_RIGHT,705.0,568.3>."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_48c3125fa3854c40980d4f49d7141555_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662745862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662745854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662745870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662745887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662745897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662745877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,893.6,515.1>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_48c3125fa3854c40980d4f49d7141555_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662745862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662745854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662745870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662745887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662745897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662745877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,893.6,515.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_48c3125fa3854c40980d4f49d7141555_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662745862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662745854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662745870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662745887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662745897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662745877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,893.6,515.1>? 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": "2538a745a83f430eb590d48b4743e179_48c3125fa3854c40980d4f49d7141555_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662745862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662745854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662745870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662745887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662745897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662745877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,893.6,515.1>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_48c3125fa3854c40980d4f49d7141555_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662745862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662745854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662745870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662745887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662745897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662745877893.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, slightly offset to the right, turn right, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_48c3125fa3854c40980d4f49d7141555_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662745862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662745854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662745870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662745887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662745897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662745877893.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": "2538a745a83f430eb590d48b4743e179_4f2c710bf33c40a19faa754ecdfc6740_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.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 back of the ego vehicle, a pedestrian wearing a black top to the front left of the ego vehicle, a white truck to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,738.5,599.2>, <c2,CAM_FRONT_LEFT,1512.1,562.5>, <c3,CAM_FRONT,751.7,471.7>, and <c4,CAM_FRONT,1360.8,501.7>."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_4f2c710bf33c40a19faa754ecdfc6740_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,738.5,599.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_4f2c710bf33c40a19faa754ecdfc6740_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,738.5,599.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_4f2c710bf33c40a19faa754ecdfc6740_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,738.5,599.2>? 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": "2538a745a83f430eb590d48b4743e179_4f2c710bf33c40a19faa754ecdfc6740_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,738.5,599.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_4f2c710bf33c40a19faa754ecdfc6740_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.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; keep going at the same speed."
            }
        ]
    },
    {
        "id": "2538a745a83f430eb590d48b4743e179_4f2c710bf33c40a19faa754ecdfc6740_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.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": "dcdea563c77544bb887de11d87619d3c_0f6432a5c6824bed9cd2603e00e5f61e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.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 car to the front right of the ego vehicle, a white truck to the front of the ego vehicle, a red car to the front of the ego vehicle, a white truck to the back of the ego vehicle, and a white truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,664.2,513.3>, <c2,CAM_FRONT,1234.2,441.7>, <c3,CAM_FRONT,1423.3,528.3>, <c4,CAM_BACK,459.9,496.7>, and <c5,CAM_FRONT_LEFT,678.3,407.5>."
            }
        ]
    },
    {
        "id": "dcdea563c77544bb887de11d87619d3c_0f6432a5c6824bed9cd2603e00e5f61e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,459.9,496.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "dcdea563c77544bb887de11d87619d3c_0f6432a5c6824bed9cd2603e00e5f61e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,664.2,513.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "dcdea563c77544bb887de11d87619d3c_0f6432a5c6824bed9cd2603e00e5f61e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,664.2,513.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is to avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "dcdea563c77544bb887de11d87619d3c_0f6432a5c6824bed9cd2603e00e5f61e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,664.2,513.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "dcdea563c77544bb887de11d87619d3c_0f6432a5c6824bed9cd2603e00e5f61e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.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 right."
            }
        ]
    },
    {
        "id": "dcdea563c77544bb887de11d87619d3c_0f6432a5c6824bed9cd2603e00e5f61e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.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": "dcdea563c77544bb887de11d87619d3c_364aaef08a04490ea3bec00dbc5d4b32_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297512412412.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297512404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297512420493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297512437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297512447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297512428113.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 back right of the ego vehicle, a black car to the front of the ego vehicle, a black sedan to the front right of the ego vehicle, a white truck to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,844.5,623.3>, <c2,CAM_FRONT,881.7,522.5>, <c3,CAM_FRONT_RIGHT,446.7,588.3>, <c4,CAM_FRONT,1304.2,467.5>, and <c5,CAM_FRONT,858.8,342.0>."
            }
        ]
    },
    {
        "id": "dcdea563c77544bb887de11d87619d3c_364aaef08a04490ea3bec00dbc5d4b32_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297512412412.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297512404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297512420493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297512437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297512447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297512428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,881.7,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "dcdea563c77544bb887de11d87619d3c_364aaef08a04490ea3bec00dbc5d4b32_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297512412412.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297512404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297512420493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297512437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297512447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297512428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,844.5,623.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "dcdea563c77544bb887de11d87619d3c_364aaef08a04490ea3bec00dbc5d4b32_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297512412412.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297512404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297512420493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297512437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297512447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297512428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,844.5,623.3>? 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": "dcdea563c77544bb887de11d87619d3c_364aaef08a04490ea3bec00dbc5d4b32_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297512412412.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297512404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297512420493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297512437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297512447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297512428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,844.5,623.3>?"
            },
            {
                "from": "gpt",
                "value": "Turn leftback up."
            }
        ]
    },
    {
        "id": "dcdea563c77544bb887de11d87619d3c_364aaef08a04490ea3bec00dbc5d4b32_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297512412412.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297512404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297512420493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297512437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297512447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297512428113.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 suddenly, brake gently to a stop."
            }
        ]
    },
    {
        "id": "dcdea563c77544bb887de11d87619d3c_364aaef08a04490ea3bec00dbc5d4b32_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297512412412.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297512404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297512420493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297512437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297512447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297512428113.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": "242ac1b59fec4e0c9c200ffca81775e2_678ce77064b14ee295c8b5ae730d6a82_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193264012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193264004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193264020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193264037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193264047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193264027893.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, a pedestrian to the front left of the ego vehicle, and a black car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1439.2,453.3>, <c2,CAM_FRONT_LEFT,657.5,561.7>, and <c3,CAM_FRONT_RIGHT,1247.5,520.0>."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_678ce77064b14ee295c8b5ae730d6a82_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193264012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193264004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193264020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193264037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193264047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193264027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1439.2,453.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_678ce77064b14ee295c8b5ae730d6a82_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193264012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193264004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193264020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193264037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193264047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193264027893.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 <c1,CAM_FRONT,1439.2,453.3>. The object is going ahead, so the ego vehicle should keep stationary. Secondly, notice <c2,CAM_FRONT_LEFT,657.5,561.7>. The object is going ahead, so the ego vehicle should keep stationary. Thirdly, notice <c3,CAM_FRONT_RIGHT,1247.5,520.0>. The object is going ahead, so the ego vehicle should keep stationary."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_678ce77064b14ee295c8b5ae730d6a82_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193264012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193264004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193264020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193264037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193264047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193264027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1439.2,453.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_678ce77064b14ee295c8b5ae730d6a82_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193264012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193264004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193264020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193264037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193264047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193264027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1439.2,453.3>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_678ce77064b14ee295c8b5ae730d6a82_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193264012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193264004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193264020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193264037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193264047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193264027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1439.2,453.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,1439.2,453.3>."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_678ce77064b14ee295c8b5ae730d6a82_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193264012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193264004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193264020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193264037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193264047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193264027893.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 brake suddenly."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_678ce77064b14ee295c8b5ae730d6a82_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193264012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193264004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193264020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193264037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193264047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193264027893.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": "242ac1b59fec4e0c9c200ffca81775e2_88e510b75f8f4d77ab77ed1a3fd8ea5b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193279662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193279654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193279670340.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193279687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193279697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193279677893.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 bus to the back of the ego vehicle, a red car to the back right of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1228.3,485.0>, <c2,CAM_BACK_RIGHT,1119.2,466.7>, and <c3,CAM_FRONT,999.2,480.0>."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_88e510b75f8f4d77ab77ed1a3fd8ea5b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193279662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193279654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193279670340.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193279687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193279697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193279677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK_RIGHT,1119.2,466.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_88e510b75f8f4d77ab77ed1a3fd8ea5b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193279662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193279654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193279670340.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193279687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193279697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193279677893.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 <c3,CAM_FRONT,999.2,480.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_BACK_RIGHT,1119.2,466.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,1228.3,485.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_88e510b75f8f4d77ab77ed1a3fd8ea5b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193279662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193279654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193279670340.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193279687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193279697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193279677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1228.3,485.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_88e510b75f8f4d77ab77ed1a3fd8ea5b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193279662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193279654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193279670340.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193279687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193279697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193279677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1228.3,485.0>? 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": "242ac1b59fec4e0c9c200ffca81775e2_88e510b75f8f4d77ab77ed1a3fd8ea5b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193279662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193279654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193279670340.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193279687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193279697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193279677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1228.3,485.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_88e510b75f8f4d77ab77ed1a3fd8ea5b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193279662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193279654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193279670340.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193279687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193279697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193279677893.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."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_88e510b75f8f4d77ab77ed1a3fd8ea5b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193279662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193279654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193279670340.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193279687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193279697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193279677893.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": "242ac1b59fec4e0c9c200ffca81775e2_d1128584076d4fa2bd256d3584340018_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.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-red bus to the front of the ego vehicle, a pedestrian wearing a green shirt to the front left of the ego vehicle, and a black small car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,371.7,425.0>, <c2,CAM_FRONT_LEFT,487.5,632.5>, and <c3,CAM_FRONT_RIGHT,935.8,526.7>."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_d1128584076d4fa2bd256d3584340018_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,371.7,425.0>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_d1128584076d4fa2bd256d3584340018_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.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 <c2,CAM_FRONT_LEFT,487.5,632.5>. It is going ahead, so the ego vehicle should turn left. Secondly, notice <c1,CAM_FRONT,371.7,425.0>. It is turning left, so the ego vehicle should turn left. Thirdly, notice <c3,CAM_FRONT_RIGHT,935.8,526.7>. It is turning left, so the ego vehicle should turn left."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_d1128584076d4fa2bd256d3584340018_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,371.7,425.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_d1128584076d4fa2bd256d3584340018_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,371.7,425.0>? 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": "242ac1b59fec4e0c9c200ffca81775e2_d1128584076d4fa2bd256d3584340018_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,371.7,425.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,371.7,425.0>."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_d1128584076d4fa2bd256d3584340018_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.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, and continue at the same speed."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_d1128584076d4fa2bd256d3584340018_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.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": "242ac1b59fec4e0c9c200ffca81775e2_2241edbff2e547eea52787a4f600623b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193274012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193274004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193274020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193274037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193274047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193274027893.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 sedan to the front of the ego vehicle, and a blue sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,835.0,546.7>, <c2,CAM_FRONT,610.8,536.7>, and <c3,CAM_BACK,141.8,576.7>."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_2241edbff2e547eea52787a4f600623b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193274012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193274004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193274020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193274037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193274047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193274027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,835.0,546.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_2241edbff2e547eea52787a4f600623b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193274012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193274004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193274020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193274037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193274047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193274027893.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 <c2,CAM_FRONT,610.8,536.7>. It is turning left, so the ego vehicle should turn left. Secondly, notice <c3,CAM_BACK,141.8,576.7>. It is going ahead, so the ego vehicle should turn left. Thirdly, notice <c1,CAM_BACK,835.0,546.7>. It is going ahead, so the ego vehicle should turn left."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_2241edbff2e547eea52787a4f600623b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193274012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193274004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193274020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193274037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193274047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193274027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,835.0,546.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_2241edbff2e547eea52787a4f600623b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193274012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193274004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193274020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193274037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193274047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193274027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,835.0,546.7>? 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, and the probability is high."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_2241edbff2e547eea52787a4f600623b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193274012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193274004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193274020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193274037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193274047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193274027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,835.0,546.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_2241edbff2e547eea52787a4f600623b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193274012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193274004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193274020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193274037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193274047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193274027893.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, keep going at the same speed, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_2241edbff2e547eea52787a4f600623b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193274012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193274004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193274020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193274037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193274047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193274027893.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 with normal speed."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_a3283a8a6f6c454da12d320b04966473_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193271912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193271904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193271920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193271937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193271947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193271927893.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, and a blue sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,190.4,596.4>, <c2,CAM_FRONT,444.2,466.7>, and <c3,CAM_FRONT,1427.5,695.8>."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_a3283a8a6f6c454da12d320b04966473_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193271912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193271904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193271920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193271937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193271947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193271927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,190.4,596.4>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_a3283a8a6f6c454da12d320b04966473_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193271912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193271904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193271920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193271937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193271947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193271927893.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 <c3,CAM_FRONT,1427.5,695.8>. The object is going ahead, so the ego vehicle should decelerate gradually until it comes to a stop. Secondly, notice <c2,CAM_FRONT,444.2,466.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c1,CAM_BACK,190.4,596.4>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_a3283a8a6f6c454da12d320b04966473_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193271912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193271904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193271920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193271937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193271947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193271927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,190.4,596.4> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_a3283a8a6f6c454da12d320b04966473_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193271912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193271904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193271920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193271937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193271947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193271927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,190.4,596.4>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_a3283a8a6f6c454da12d320b04966473_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193271912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193271904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193271920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193271937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193271947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193271927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,190.4,596.4>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "242ac1b59fec4e0c9c200ffca81775e2_a3283a8a6f6c454da12d320b04966473_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193271912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193271904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193271920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193271937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193271947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193271927893.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": "242ac1b59fec4e0c9c200ffca81775e2_a3283a8a6f6c454da12d320b04966473_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193271912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193271904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193271920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193271937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193271947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193271927893.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": "59ff984c3143486da7d2c4ffec023b36_e330740963af4a0b99c2cf7fcb4b3751_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729117112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729117104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729117120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729117137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729117147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729117128113.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 cone bucket to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a white pickup truck to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1108.3,544.2>, <c2,CAM_FRONT,649.2,500.8>, and <c3,CAM_BACK_LEFT,1032.3,588.4>."
            }
        ]
    },
    {
        "id": "59ff984c3143486da7d2c4ffec023b36_e330740963af4a0b99c2cf7fcb4b3751_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729117112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729117104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729117120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729117137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729117147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729117128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,649.2,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "59ff984c3143486da7d2c4ffec023b36_e330740963af4a0b99c2cf7fcb4b3751_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729117112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729117104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729117120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729117137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729117147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729117128113.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 <c1,CAM_FRONT,1108.3,544.2>; the object is a traffic cone, so the ego vehicle should slightly offset to the left in maneuvering. Secondly, notice that <c2,CAM_FRONT,649.2,500.8>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK_LEFT,1032.3,588.4>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "59ff984c3143486da7d2c4ffec023b36_e330740963af4a0b99c2cf7fcb4b3751_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729117112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729117104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729117120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729117137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729117147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729117128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1108.3,544.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "59ff984c3143486da7d2c4ffec023b36_e330740963af4a0b99c2cf7fcb4b3751_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729117112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729117104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729117120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729117137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729117147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729117128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_FRONT,649.2,500.8>? 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": "59ff984c3143486da7d2c4ffec023b36_e330740963af4a0b99c2cf7fcb4b3751_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729117112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729117104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729117120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729117137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729117147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729117128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,649.2,500.8>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c2,CAM_FRONT,649.2,500.8>."
            }
        ]
    },
    {
        "id": "59ff984c3143486da7d2c4ffec023b36_e330740963af4a0b99c2cf7fcb4b3751_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729117112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729117104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729117120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729117137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729117147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729117128113.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": "59ff984c3143486da7d2c4ffec023b36_e330740963af4a0b99c2cf7fcb4b3751_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729117112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729117104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729117120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729117137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729117147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729117128113.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": "59ff984c3143486da7d2c4ffec023b36_b24d7042ba974eed933c4d31d18445cf_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729115162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729115154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729115170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729115187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729115197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729115178113.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 red car to the back left of the ego vehicle, and a white SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,232.5,528.3>, <c2,CAM_BACK_LEFT,1228.3,611.7>, and <c3,CAM_BACK,1126.7,549.2>."
            }
        ]
    },
    {
        "id": "59ff984c3143486da7d2c4ffec023b36_b24d7042ba974eed933c4d31d18445cf_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729115162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729115154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729115170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729115187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729115197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729115178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,232.5,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "59ff984c3143486da7d2c4ffec023b36_b24d7042ba974eed933c4d31d18445cf_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729115162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729115154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729115170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729115187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729115197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729115178113.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 <c1,CAM_FRONT,232.5,528.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c2,CAM_BACK_LEFT,1228.3,611.7>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c3,CAM_BACK,1126.7,549.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "59ff984c3143486da7d2c4ffec023b36_b24d7042ba974eed933c4d31d18445cf_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729115162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729115154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729115170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729115187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729115197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729115178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,232.5,528.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "59ff984c3143486da7d2c4ffec023b36_b24d7042ba974eed933c4d31d18445cf_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729115162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729115154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729115170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729115187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729115197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729115178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,232.5,528.3>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "59ff984c3143486da7d2c4ffec023b36_b24d7042ba974eed933c4d31d18445cf_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729115162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729115154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729115170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729115187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729115197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729115178113.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": "59ff984c3143486da7d2c4ffec023b36_b24d7042ba974eed933c4d31d18445cf_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729115162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729115154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729115170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729115187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729115197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729115178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,232.5,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Driving towards the left front can lead to a collision with <c1,CAM_FRONT,232.5,528.3>."
            }
        ]
    },
    {
        "id": "59ff984c3143486da7d2c4ffec023b36_b24d7042ba974eed933c4d31d18445cf_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729115162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729115154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729115170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729115187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729115197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729115178113.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": "c9c28de6e66442f7921858f1ebbec3ef_8eaa4ca0661d47d3b0c9c924ba9dd143_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662819677893.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 front of the ego vehicle, a white SUV to the back of the ego vehicle, a red and white traffic sign to the back left of the ego vehicle, and a red and white roadblock to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,475.8,493.3>, <c2,CAM_BACK,1018.3,511.7>, <c3,CAM_BACK_LEFT,1213.4,412.2>, and <c4,CAM_FRONT_LEFT,638.9,507.9>."
            }
        ]
    },
    {
        "id": "c9c28de6e66442f7921858f1ebbec3ef_8eaa4ca0661d47d3b0c9c924ba9dd143_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662819677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,475.8,493.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c9c28de6e66442f7921858f1ebbec3ef_8eaa4ca0661d47d3b0c9c924ba9dd143_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662819677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,475.8,493.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c9c28de6e66442f7921858f1ebbec3ef_8eaa4ca0661d47d3b0c9c924ba9dd143_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662819677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,475.8,493.3>? 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": "c9c28de6e66442f7921858f1ebbec3ef_8eaa4ca0661d47d3b0c9c924ba9dd143_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662819677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,475.8,493.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "c9c28de6e66442f7921858f1ebbec3ef_8eaa4ca0661d47d3b0c9c924ba9dd143_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662819677893.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": "c9c28de6e66442f7921858f1ebbec3ef_8eaa4ca0661d47d3b0c9c924ba9dd143_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662819662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662819654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662819670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662819687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662819697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662819677893.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": "c9c28de6e66442f7921858f1ebbec3ef_7b9c7fb117c34b10b8a3e2e26aeb983a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662813762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662813754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662813770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662813787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662813797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662813777893.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 green coach to the back of the ego vehicle, a white sedan to the back of the ego vehicle, and a horizontal bar to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,535.4,481.7>, <c2,CAM_BACK,840.0,521.7>, and <c3,CAM_FRONT_LEFT,548.2,618.6>."
            }
        ]
    },
    {
        "id": "c9c28de6e66442f7921858f1ebbec3ef_7b9c7fb117c34b10b8a3e2e26aeb983a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662813762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662813754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662813770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662813787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662813797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662813777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,535.4,481.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c9c28de6e66442f7921858f1ebbec3ef_7b9c7fb117c34b10b8a3e2e26aeb983a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662813762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662813754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662813770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662813787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662813797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662813777893.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 <c3,CAM_FRONT_LEFT,548.2,618.6>. The object is a traffic sign, so the ego vehicle should slow down and continue ahead. Secondly, notice that <c1,CAM_BACK,535.4,481.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,840.0,521.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "c9c28de6e66442f7921858f1ebbec3ef_7b9c7fb117c34b10b8a3e2e26aeb983a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662813762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662813754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662813770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662813787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662813797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662813777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,535.4,481.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c9c28de6e66442f7921858f1ebbec3ef_7b9c7fb117c34b10b8a3e2e26aeb983a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662813762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662813754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662813770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662813787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662813797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662813777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,535.4,481.7>? 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": "c9c28de6e66442f7921858f1ebbec3ef_7b9c7fb117c34b10b8a3e2e26aeb983a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662813762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662813754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662813770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662813787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662813797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662813777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,535.4,481.7>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision."
            }
        ]
    },
    {
        "id": "c9c28de6e66442f7921858f1ebbec3ef_7b9c7fb117c34b10b8a3e2e26aeb983a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662813762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662813754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662813770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662813787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662813797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662813777893.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": "c9c28de6e66442f7921858f1ebbec3ef_7b9c7fb117c34b10b8a3e2e26aeb983a_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662813762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662813754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662813770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662813787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662813797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662813777893.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": "c31adab2faea4db6ae5673eb8a507d00_6c3888bc69c84fd38cceb58ae8e225c3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297351362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297351354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297351370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297351387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297351397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297351378113.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 front left of the ego vehicle, a white truck to the back right of the ego vehicle, a white truck to the back of the ego vehicle, a pedestrian wearing black clothes to the front right of the ego vehicle, and a black sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,772.5,707.5>, <c2,CAM_BACK_RIGHT,1050.0,401.7>, <c3,CAM_BACK,308.3,459.2>, <c4,CAM_FRONT_RIGHT,192.5,513.3>, and <c5,CAM_BACK_RIGHT,830.8,484.2>."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_6c3888bc69c84fd38cceb58ae8e225c3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297351362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297351354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297351370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297351387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297351397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297351378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_FRONT_RIGHT,192.5,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_6c3888bc69c84fd38cceb58ae8e225c3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297351362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297351354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297351370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297351387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297351397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297351378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,772.5,707.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_6c3888bc69c84fd38cceb58ae8e225c3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297351362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297351354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297351370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297351387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297351397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297351378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,772.5,707.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn left, the reason is to avoid a collision with CAM_FRONT_LEFT, and the probability is high."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_6c3888bc69c84fd38cceb58ae8e225c3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297351362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297351354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297351370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297351387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297351397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297351378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,772.5,707.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_6c3888bc69c84fd38cceb58ae8e225c3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297351362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297351354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297351370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297351387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297351397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297351378113.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": "c31adab2faea4db6ae5673eb8a507d00_6c3888bc69c84fd38cceb58ae8e225c3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297351362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297351354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297351370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297351387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297351397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297351378113.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": "c31adab2faea4db6ae5673eb8a507d00_ec312eac9ffa401f91dd63c89a3040c4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297335912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297335904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297335920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297335937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297335947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297335928113.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 front of the ego vehicle, a pedestrian with an umbrella to the front of the ego vehicle, a white truck to the front right of the ego vehicle, a white small goods to the front right of the ego vehicle, and a black traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,138.3,519.2>, <c2,CAM_FRONT,1429.2,454.3>, <c3,CAM_FRONT_RIGHT,32.5,415.0>, <c4,CAM_FRONT_RIGHT,440.0,438.3>, and <c5,CAM_FRONT,234.2,159.4>."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_ec312eac9ffa401f91dd63c89a3040c4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297335912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297335904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297335920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297335937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297335947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297335928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1429.2,454.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_ec312eac9ffa401f91dd63c89a3040c4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297335912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297335904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297335920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297335937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297335947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297335928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,138.3,519.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_ec312eac9ffa401f91dd63c89a3040c4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297335912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297335904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297335920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297335937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297335947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297335928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,138.3,519.2>? 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 traffic rules, which has a high probability."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_ec312eac9ffa401f91dd63c89a3040c4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297335912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297335904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297335920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297335937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297335947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297335928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,138.3,519.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_ec312eac9ffa401f91dd63c89a3040c4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297335912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297335904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297335920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297335937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297335947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297335928113.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, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_ec312eac9ffa401f91dd63c89a3040c4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297335912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297335904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297335920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297335937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297335947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297335928113.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": "c31adab2faea4db6ae5673eb8a507d00_3bacb342e9474eb6886835ad0def454f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297339412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297339404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297339420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297339437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297339447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297339428113.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 sedan to the back of the ego vehicle, a white truck to the front right of the ego vehicle, a white truck to the front right of the ego vehicle, a uncertain to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,132.5,524.2>, <c2,CAM_BACK,758.3,498.3>, <c3,CAM_FRONT_RIGHT,164.2,420.8>, <c4,CAM_FRONT_RIGHT,436.7,436.7>, <c5,CAM_FRONT,1038.3,470.0>, and <c6,CAM_FRONT,246.4,174.1>."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_3bacb342e9474eb6886835ad0def454f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297339412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297339404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297339420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297339437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297339447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297339428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,758.3,498.3>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_3bacb342e9474eb6886835ad0def454f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297339412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297339404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297339420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297339437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297339447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297339428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,132.5,524.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_3bacb342e9474eb6886835ad0def454f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297339412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297339404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297339420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297339437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297339447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297339428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,132.5,524.2>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_3bacb342e9474eb6886835ad0def454f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297339412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297339404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297339420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297339437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297339447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297339428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,132.5,524.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_3bacb342e9474eb6886835ad0def454f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297339412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297339404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297339420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297339437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297339447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297339428113.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 slightly offset to the right."
            }
        ]
    },
    {
        "id": "c31adab2faea4db6ae5673eb8a507d00_3bacb342e9474eb6886835ad0def454f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297339412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297339404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297339420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297339437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297339447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297339428113.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": "aee27b55da77468ba444357348f5cf88_59e112cf754e439ea8f138944e9ef958_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478717663372.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478717654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478717670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478717687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478717697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478717678113.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 front of the ego vehicle, a black SUV to the front of the ego vehicle, a silver gray sedan to the front of the ego vehicle, a black pickup truck to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,490.0,542.5>, <c2,CAM_FRONT,861.7,480.0>, <c3,CAM_FRONT,960.8,479.2>, <c4,CAM_FRONT,1434.2,476.7>, and <c5,CAM_BACK,320.4,605.0>."
            }
        ]
    },
    {
        "id": "aee27b55da77468ba444357348f5cf88_59e112cf754e439ea8f138944e9ef958_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478717663372.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478717654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478717670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478717687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478717697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478717678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,490.0,542.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "aee27b55da77468ba444357348f5cf88_59e112cf754e439ea8f138944e9ef958_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478717663372.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478717654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478717670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478717687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478717697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478717678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,490.0,542.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "aee27b55da77468ba444357348f5cf88_59e112cf754e439ea8f138944e9ef958_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478717663372.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478717654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478717670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478717687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478717697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478717678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,490.0,542.5>? 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": "aee27b55da77468ba444357348f5cf88_59e112cf754e439ea8f138944e9ef958_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478717663372.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478717654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478717670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478717687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478717697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478717678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,490.0,542.5>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "aee27b55da77468ba444357348f5cf88_59e112cf754e439ea8f138944e9ef958_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478717663372.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478717654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478717670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478717687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478717697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478717678113.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": "aee27b55da77468ba444357348f5cf88_59e112cf754e439ea8f138944e9ef958_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478717663372.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478717654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478717670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478717687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478717697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478717678113.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": "aee27b55da77468ba444357348f5cf88_405ac7d88c1840c8af4e30fd4512709e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478719612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478719604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478719620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478719637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478719647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478719628113.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 brown business car to the front of the ego vehicle, a white truck to the front of the ego vehicle, a white commercial vehicle to the front of the ego vehicle, and a silver sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,884.2,481.7>, <c2,CAM_FRONT,793.3,461.7>, <c3,CAM_FRONT,1029.2,488.3>, and <c4,CAM_FRONT,331.7,538.3>."
            }
        ]
    },
    {
        "id": "aee27b55da77468ba444357348f5cf88_405ac7d88c1840c8af4e30fd4512709e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478719612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478719604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478719620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478719637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478719647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478719628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,884.2,481.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "aee27b55da77468ba444357348f5cf88_405ac7d88c1840c8af4e30fd4512709e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478719612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478719604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478719620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478719637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478719647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478719628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,884.2,481.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "aee27b55da77468ba444357348f5cf88_405ac7d88c1840c8af4e30fd4512709e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478719612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478719604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478719620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478719637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478719647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478719628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,884.2,481.7>? 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": "aee27b55da77468ba444357348f5cf88_405ac7d88c1840c8af4e30fd4512709e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478719612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478719604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478719620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478719637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478719647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478719628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,884.2,481.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,884.2,481.7>."
            }
        ]
    },
    {
        "id": "aee27b55da77468ba444357348f5cf88_405ac7d88c1840c8af4e30fd4512709e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478719612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478719604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478719620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478719637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478719647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478719628113.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 ahead."
            }
        ]
    },
    {
        "id": "aee27b55da77468ba444357348f5cf88_405ac7d88c1840c8af4e30fd4512709e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478719612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478719604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478719620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478719637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478719647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478719628113.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": "7f8714d8ca814914bf4ff3ed30123db5_0fddae844046472b8aff413f4159a767_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729296412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729296404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729296420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729296437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729296447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729296428113.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 brown business to the front left of the ego vehicle, a silver sedan to the front right of the ego vehicle, a red car to the front of the ego vehicle, a black SUV to the front of the ego vehicle, and a yellow bus to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,707.7,614.2>, <c2,CAM_FRONT_RIGHT,180.8,610.0>, <c3,CAM_FRONT,714.2,497.5>, <c4,CAM_FRONT,1130.0,494.2>, and <c5,CAM_BACK,799.2,478.3>."
            }
        ]
    },
    {
        "id": "7f8714d8ca814914bf4ff3ed30123db5_0fddae844046472b8aff413f4159a767_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729296412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729296404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729296420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729296437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729296447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729296428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,707.7,614.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7f8714d8ca814914bf4ff3ed30123db5_0fddae844046472b8aff413f4159a767_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729296412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729296404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729296420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729296437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729296447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729296428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,707.7,614.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7f8714d8ca814914bf4ff3ed30123db5_0fddae844046472b8aff413f4159a767_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729296412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729296404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729296420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729296437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729296447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729296428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,707.7,614.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to decelerate gradually without braking because there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "7f8714d8ca814914bf4ff3ed30123db5_0fddae844046472b8aff413f4159a767_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729296412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729296404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729296420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729296437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729296447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729296428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,707.7,614.2>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "7f8714d8ca814914bf4ff3ed30123db5_0fddae844046472b8aff413f4159a767_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729296412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729296404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729296420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729296437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729296447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729296428113.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": "7f8714d8ca814914bf4ff3ed30123db5_0fddae844046472b8aff413f4159a767_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729296412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729296404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729296420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729296437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729296447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729296428113.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": "7f8714d8ca814914bf4ff3ed30123db5_e423150a3f55432a98bd879f29458434_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729287012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729287004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729287020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729287037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729287047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729287028113.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 of the ego vehicle, a gray sedan to the front of the ego vehicle, a yellow and white coach to the back of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1009.2,488.3>, <c2,CAM_FRONT,620.5,516.1>, <c3,CAM_BACK,808.3,496.7>, and <c4,CAM_FRONT,732.5,498.3>."
            }
        ]
    },
    {
        "id": "7f8714d8ca814914bf4ff3ed30123db5_e423150a3f55432a98bd879f29458434_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729287012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729287004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729287020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729287037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729287047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729287028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1009.2,488.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7f8714d8ca814914bf4ff3ed30123db5_e423150a3f55432a98bd879f29458434_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729287012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729287004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729287020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729287037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729287047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729287028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1009.2,488.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7f8714d8ca814914bf4ff3ed30123db5_e423150a3f55432a98bd879f29458434_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729287012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729287004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729287020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729287037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729287047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729287028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1009.2,488.3>? 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": "7f8714d8ca814914bf4ff3ed30123db5_e423150a3f55432a98bd879f29458434_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729287012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729287004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729287020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729287037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729287047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729287028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1009.2,488.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "7f8714d8ca814914bf4ff3ed30123db5_e423150a3f55432a98bd879f29458434_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729287012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729287004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729287020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729287037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729287047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729287028113.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 same speed."
            }
        ]
    },
    {
        "id": "7f8714d8ca814914bf4ff3ed30123db5_e423150a3f55432a98bd879f29458434_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729287012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729287004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729287020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729287037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729287047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729287028113.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": "9c83e438973e4824853e6a38928ca4ff_23d95038bdec4a55a9a488a7710122f9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985444112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985444104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985444120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985444137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985444147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985444127893.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 left of the ego vehicle, a black car to the back of the ego vehicle, and a white SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1188.3,485.8>, <c2,CAM_BACK,842.1,565.0>, and <c3,CAM_FRONT,197.5,517.5>."
            }
        ]
    },
    {
        "id": "9c83e438973e4824853e6a38928ca4ff_23d95038bdec4a55a9a488a7710122f9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985444112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985444104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985444120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985444137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985444147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985444127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,842.1,565.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9c83e438973e4824853e6a38928ca4ff_23d95038bdec4a55a9a488a7710122f9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985444112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985444104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985444120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985444137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985444147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985444127893.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 <c1,CAM_FRONT_LEFT,1188.3,485.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,197.5,517.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,842.1,565.0>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "9c83e438973e4824853e6a38928ca4ff_23d95038bdec4a55a9a488a7710122f9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985444112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985444104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985444120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985444137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985444147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985444127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1188.3,485.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9c83e438973e4824853e6a38928ca4ff_23d95038bdec4a55a9a488a7710122f9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985444112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985444104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985444120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985444137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985444147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985444127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1188.3,485.8>? 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": "9c83e438973e4824853e6a38928ca4ff_23d95038bdec4a55a9a488a7710122f9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985444112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985444104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985444120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985444137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985444147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985444127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1188.3,485.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "9c83e438973e4824853e6a38928ca4ff_23d95038bdec4a55a9a488a7710122f9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985444112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985444104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985444120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985444137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985444147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985444127893.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": "9c83e438973e4824853e6a38928ca4ff_23d95038bdec4a55a9a488a7710122f9_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985444112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985444104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985444120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985444137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985444147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985444127893.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": "9c83e438973e4824853e6a38928ca4ff_43f3b614597f40908b8ebfdf5b5e534c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985445612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985445604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985445620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985445637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985445647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985445627893.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 SUV to the back of the ego vehicle, a black car to the front left of the ego vehicle, and a white SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,836.7,555.0>, <c2,CAM_FRONT_LEFT,1515.0,583.3>, and <c3,CAM_FRONT_LEFT,934.2,580.0>."
            }
        ]
    },
    {
        "id": "9c83e438973e4824853e6a38928ca4ff_43f3b614597f40908b8ebfdf5b5e534c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985445612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985445604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985445620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985445637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985445647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985445627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,836.7,555.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9c83e438973e4824853e6a38928ca4ff_43f3b614597f40908b8ebfdf5b5e534c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985445612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985445604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985445620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985445637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985445647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985445627893.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 <c2,CAM_FRONT_LEFT,1515.0,583.3>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_LEFT,934.2,580.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,836.7,555.0>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "9c83e438973e4824853e6a38928ca4ff_43f3b614597f40908b8ebfdf5b5e534c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985445612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985445604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985445620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985445637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985445647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985445627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,836.7,555.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9c83e438973e4824853e6a38928ca4ff_43f3b614597f40908b8ebfdf5b5e534c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985445612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985445604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985445620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985445637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985445647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985445627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,836.7,555.0>? 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."
            }
        ]
    },
    {
        "id": "9c83e438973e4824853e6a38928ca4ff_43f3b614597f40908b8ebfdf5b5e534c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985445612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985445604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985445620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985445637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985445647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985445627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,836.7,555.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "9c83e438973e4824853e6a38928ca4ff_43f3b614597f40908b8ebfdf5b5e534c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985445612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985445604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985445620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985445637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985445647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985445627893.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": "9c83e438973e4824853e6a38928ca4ff_43f3b614597f40908b8ebfdf5b5e534c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985445612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985445604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985445620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985445637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985445647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985445627893.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": "8857cf15fa7049a6b000490835d3b9fc_cd9c5093d14240a1acb6bc1eb28b392a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112964912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112964904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112964920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112964937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112964947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112964927893.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 sedan to the front of the ego vehicle, a white business to the back of the ego vehicle, and a white SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,629.2,419.2>, <c2,CAM_FRONT,905.0,407.5>, <c3,CAM_BACK,1130.0,549.2>, and <c4,CAM_FRONT_LEFT,1300.0,410.0>."
            }
        ]
    },
    {
        "id": "8857cf15fa7049a6b000490835d3b9fc_cd9c5093d14240a1acb6bc1eb28b392a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112964912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112964904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112964920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112964937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112964947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112964927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,905.0,407.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8857cf15fa7049a6b000490835d3b9fc_cd9c5093d14240a1acb6bc1eb28b392a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112964912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112964904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112964920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112964937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112964947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112964927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,629.2,419.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8857cf15fa7049a6b000490835d3b9fc_cd9c5093d14240a1acb6bc1eb28b392a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112964912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112964904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112964920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112964937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112964947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112964927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,629.2,419.2>? 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": "8857cf15fa7049a6b000490835d3b9fc_cd9c5093d14240a1acb6bc1eb28b392a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112964912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112964904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112964920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112964937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112964947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112964927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,629.2,419.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "8857cf15fa7049a6b000490835d3b9fc_cd9c5093d14240a1acb6bc1eb28b392a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112964912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112964904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112964920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112964937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112964947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112964927893.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, slightly offset to the right, brake suddenly, turn left, or back up."
            }
        ]
    },
    {
        "id": "8857cf15fa7049a6b000490835d3b9fc_cd9c5093d14240a1acb6bc1eb28b392a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112964912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112964904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112964920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112964937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112964947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112964927893.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": "8857cf15fa7049a6b000490835d3b9fc_d016fad6b45d4112a910fe40e6c3a03d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112955512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112955504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112955520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112955537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112955547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112955527893.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 white sedan car to the back right of the ego vehicle, a blue minivan to the back left of the ego vehicle, and a exit is on the right side to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1177.5,533.3>, <c2,CAM_BACK_RIGHT,1441.7,520.0>, <c3,CAM_BACK_LEFT,449.0,575.8>, and <c4,CAM_FRONT_RIGHT,498.4,398.3>."
            }
        ]
    },
    {
        "id": "8857cf15fa7049a6b000490835d3b9fc_d016fad6b45d4112a910fe40e6c3a03d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112955512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112955504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112955520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112955537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112955547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112955527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK_RIGHT,1441.7,520.0>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "8857cf15fa7049a6b000490835d3b9fc_d016fad6b45d4112a910fe40e6c3a03d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112955512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112955504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112955520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112955537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112955547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112955527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1177.5,533.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8857cf15fa7049a6b000490835d3b9fc_d016fad6b45d4112a910fe40e6c3a03d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112955512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112955504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112955520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112955537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112955547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112955527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1177.5,533.3>? 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": "8857cf15fa7049a6b000490835d3b9fc_d016fad6b45d4112a910fe40e6c3a03d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112955512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112955504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112955520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112955537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112955547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112955527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1177.5,533.3>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,1177.5,533.3>."
            }
        ]
    },
    {
        "id": "8857cf15fa7049a6b000490835d3b9fc_d016fad6b45d4112a910fe40e6c3a03d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112955512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112955504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112955520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112955537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112955547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112955527893.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, brake suddenly, slightly offset to the left, slightly offset to the right, change to the right lane, turn left, or turn right."
            }
        ]
    },
    {
        "id": "8857cf15fa7049a6b000490835d3b9fc_d016fad6b45d4112a910fe40e6c3a03d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112955512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112955504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112955520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112955537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112955547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112955527893.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": "e2d9a52b37bd4b63b913777ef77b2d4f_ebb77bcd19f74ad4aee3e9ca0eefa3fe_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985562862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985562854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985562870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985562887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985562897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985562877893.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 pants pedestrian to the front of the ego vehicle, a black SUV to the back of the ego vehicle, and a white bus to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,498.3,548.3>, <c2,CAM_BACK,871.7,531.7>, and <c3,CAM_FRONT,1300.0,563.3>."
            }
        ]
    },
    {
        "id": "e2d9a52b37bd4b63b913777ef77b2d4f_ebb77bcd19f74ad4aee3e9ca0eefa3fe_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985562862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985562854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985562870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985562887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985562897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985562877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,498.3,548.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e2d9a52b37bd4b63b913777ef77b2d4f_ebb77bcd19f74ad4aee3e9ca0eefa3fe_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985562862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985562854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985562870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985562887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985562897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985562877893.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 <c1,CAM_FRONT,498.3,548.3>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c2,CAM_BACK,871.7,531.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c3,CAM_FRONT,1300.0,563.3>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "e2d9a52b37bd4b63b913777ef77b2d4f_ebb77bcd19f74ad4aee3e9ca0eefa3fe_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985562862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985562854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985562870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985562887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985562897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985562877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,498.3,548.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e2d9a52b37bd4b63b913777ef77b2d4f_ebb77bcd19f74ad4aee3e9ca0eefa3fe_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985562862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985562854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985562870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985562887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985562897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985562877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,498.3,548.3>? 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": "e2d9a52b37bd4b63b913777ef77b2d4f_ebb77bcd19f74ad4aee3e9ca0eefa3fe_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985562862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985562854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985562870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985562887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985562897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985562877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,498.3,548.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "e2d9a52b37bd4b63b913777ef77b2d4f_ebb77bcd19f74ad4aee3e9ca0eefa3fe_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985562862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985562854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985562870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985562887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985562897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985562877893.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": "e2d9a52b37bd4b63b913777ef77b2d4f_ebb77bcd19f74ad4aee3e9ca0eefa3fe_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985562862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985562854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985562870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985562887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985562897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985562877893.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": "45fc8a7a26c5469a88db999ae8468777_23fa9a7b75f0489aad02572dc7205b76_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291130412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291130404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291130420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291130437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291130447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291130428113.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 car to the back of the ego vehicle, a walking person to the front right of the ego vehicle, a black sedan to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,345.8,535.8>, <c2,CAM_FRONT_RIGHT,122.5,502.5>, <c3,CAM_FRONT,633.3,510.8>, and <c4,CAM_FRONT,252.2,255.3>."
            }
        ]
    },
    {
        "id": "45fc8a7a26c5469a88db999ae8468777_23fa9a7b75f0489aad02572dc7205b76_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291130412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291130404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291130420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291130437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291130447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291130428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,122.5,502.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "45fc8a7a26c5469a88db999ae8468777_23fa9a7b75f0489aad02572dc7205b76_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291130412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291130404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291130420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291130437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291130447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291130428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,345.8,535.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "45fc8a7a26c5469a88db999ae8468777_23fa9a7b75f0489aad02572dc7205b76_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291130412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291130404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291130420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291130437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291130447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291130428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,345.8,535.8>? 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": "45fc8a7a26c5469a88db999ae8468777_23fa9a7b75f0489aad02572dc7205b76_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291130412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291130404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291130420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291130437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291130447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291130428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,122.5,502.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "45fc8a7a26c5469a88db999ae8468777_23fa9a7b75f0489aad02572dc7205b76_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291130412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291130404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291130420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291130437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291130447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291130428113.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": "45fc8a7a26c5469a88db999ae8468777_23fa9a7b75f0489aad02572dc7205b76_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291130412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291130404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291130420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291130437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291130447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291130428113.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": "45fc8a7a26c5469a88db999ae8468777_065088df6614493b86644013d9024ae3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291140362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291140354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291140370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291140387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291140397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291140378113.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 right of the ego vehicle, a white truck to the front of the ego vehicle, and a person wearing a black shirt to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,567.5,520.8>, <c2,CAM_FRONT,677.5,496.7>, and <c3,CAM_FRONT_LEFT,994.2,545.0>."
            }
        ]
    },
    {
        "id": "45fc8a7a26c5469a88db999ae8468777_065088df6614493b86644013d9024ae3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291140362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291140354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291140370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291140387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291140397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291140378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,567.5,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "45fc8a7a26c5469a88db999ae8468777_065088df6614493b86644013d9024ae3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291140362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291140354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291140370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291140387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291140397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291140378113.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 <c2,CAM_FRONT,677.5,496.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_LEFT,994.2,545.0>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT_RIGHT,567.5,520.8>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "45fc8a7a26c5469a88db999ae8468777_065088df6614493b86644013d9024ae3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291140362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291140354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291140370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291140387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291140397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291140378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,567.5,520.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "45fc8a7a26c5469a88db999ae8468777_065088df6614493b86644013d9024ae3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291140362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291140354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291140370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291140387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291140397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291140378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,567.5,520.8>? 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": "45fc8a7a26c5469a88db999ae8468777_065088df6614493b86644013d9024ae3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291140362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291140354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291140370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291140387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291140397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291140378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,567.5,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "45fc8a7a26c5469a88db999ae8468777_065088df6614493b86644013d9024ae3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291140362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291140354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291140370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291140387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291140397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291140378113.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."
            }
        ]
    },
    {
        "id": "45fc8a7a26c5469a88db999ae8468777_065088df6614493b86644013d9024ae3_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291140362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291140354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291140370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291140387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291140397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291140378113.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": "d6e6f5d622474271b695f4c7f07df7bb_a88f116dffa745a8bfdf90e3758fb547_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658850512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658850504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658850520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658850537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658850547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658850528113.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 right of the ego vehicle, a black SUV to the back of the ego vehicle, and a pedestrian on the roadside to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,910.3,645.8>, <c2,CAM_BACK,266.4,527.5>, and <c3,CAM_FRONT,323.3,585.8>."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_a88f116dffa745a8bfdf90e3758fb547_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658850512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658850504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658850520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658850537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658850547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658850528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,266.4,527.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_a88f116dffa745a8bfdf90e3758fb547_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658850512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658850504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658850520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658850537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658850547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658850528113.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 <c1,CAM_FRONT_RIGHT,910.3,645.8>. It is stationary, so the ego vehicle should continue at the same speed. Secondly, notice <c3,CAM_FRONT,323.3,585.8>. It is stationary, so the ego vehicle should continue at the same speed. Thirdly, notice <c2,CAM_BACK,266.4,527.5>. It is going ahead, so the ego vehicle should continue at the same speed."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_a88f116dffa745a8bfdf90e3758fb547_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658850512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658850504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658850520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658850537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658850547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658850528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,910.3,645.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_a88f116dffa745a8bfdf90e3758fb547_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658850512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658850504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658850520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658850537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658850547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658850528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,910.3,645.8>? 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": "d6e6f5d622474271b695f4c7f07df7bb_a88f116dffa745a8bfdf90e3758fb547_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658850512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658850504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658850520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658850537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658850547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658850528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,910.3,645.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_a88f116dffa745a8bfdf90e3758fb547_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658850512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658850504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658850520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658850537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658850547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658850528113.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, and turn right."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_a88f116dffa745a8bfdf90e3758fb547_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658850512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658850504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658850520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658850537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658850547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658850528113.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": "d6e6f5d622474271b695f4c7f07df7bb_7935325592b641a084189d55309893ad_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658854012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658854004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658854020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658854037774.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658854047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658854028113.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 white sedan to the back right of the ego vehicle, and a black SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1340.0,584.2>, <c2,CAM_BACK_RIGHT,804.0,716.2>, and <c3,CAM_FRONT_RIGHT,406.7,655.3>."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_7935325592b641a084189d55309893ad_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658854012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658854004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658854020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658854037774.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658854047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658854028113.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 <c1,CAM_FRONT,1340.0,584.2>; it is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_RIGHT,406.7,655.3>; it is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK_RIGHT,804.0,716.2>; it is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_7935325592b641a084189d55309893ad_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658854012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658854004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658854020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658854037774.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658854047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658854028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1340.0,584.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_7935325592b641a084189d55309893ad_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658854012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658854004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658854020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658854037774.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658854047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658854028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1340.0,584.2>? 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": "d6e6f5d622474271b695f4c7f07df7bb_7935325592b641a084189d55309893ad_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658854012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658854004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658854020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658854037774.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658854047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658854028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1340.0,584.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_7935325592b641a084189d55309893ad_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658854012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658854004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658854020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658854037774.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658854047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658854028113.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; back up."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_7935325592b641a084189d55309893ad_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658854012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658854004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658854020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658854037774.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658854047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658854028113.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": "d6e6f5d622474271b695f4c7f07df7bb_15ad1f4ad64c447c80497856bdf4c410_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658861412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658861404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658861420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658861437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658861447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658861428154.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 van to the back of the ego vehicle, a white sedan to the front of the ego vehicle, a white SUV to the front right of the ego vehicle, and a gray sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,876.7,513.3>, <c2,CAM_FRONT,1100.8,517.5>, <c3,CAM_FRONT_RIGHT,834.6,618.9>, and <c4,CAM_BACK_RIGHT,1110.1,724.9>."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_15ad1f4ad64c447c80497856bdf4c410_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658861412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658861404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658861420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658861437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658861447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658861428154.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,876.7,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_15ad1f4ad64c447c80497856bdf4c410_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658861412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658861404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658861420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658861437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658861447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658861428154.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,876.7,513.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_15ad1f4ad64c447c80497856bdf4c410_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658861412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658861404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658861420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658861437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658861447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658861428154.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,876.7,513.3>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_15ad1f4ad64c447c80497856bdf4c410_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658861412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658861404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658861420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658861437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658861447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658861428154.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,876.7,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "d6e6f5d622474271b695f4c7f07df7bb_15ad1f4ad64c447c80497856bdf4c410_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658861412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658861404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658861420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658861437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658861447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658861428154.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": "d6e6f5d622474271b695f4c7f07df7bb_15ad1f4ad64c447c80497856bdf4c410_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658861412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658861404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658861420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658861437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658861447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658861428154.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": "9047b53fd41540649dce014a128cbe1b_0fbd36207be943fa874684ffb22bf256_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886248912467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886248904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886248920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886248937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886248947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886248927893.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 man riding an electric bike to the front of the ego vehicle, a detour sign to the front of the ego vehicle, and a decelerate yield traffic sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1010.4,621.9>, <c2,CAM_FRONT,952.5,597.5>, <c3,CAM_FRONT,748.2,470.9>, and <c4,CAM_FRONT_RIGHT,491.8,439.2>."
            }
        ]
    },
    {
        "id": "9047b53fd41540649dce014a128cbe1b_0fbd36207be943fa874684ffb22bf256_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886248912467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886248904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886248920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886248937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886248947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886248927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1010.4,621.9>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9047b53fd41540649dce014a128cbe1b_0fbd36207be943fa874684ffb22bf256_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886248912467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886248904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886248920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886248937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886248947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886248927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1010.4,621.9> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9047b53fd41540649dce014a128cbe1b_0fbd36207be943fa874684ffb22bf256_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886248912467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886248904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886248920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886248937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886248947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886248927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1010.4,621.9>? 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": "9047b53fd41540649dce014a128cbe1b_0fbd36207be943fa874684ffb22bf256_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886248912467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886248904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886248920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886248937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886248947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886248927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1010.4,621.9>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "9047b53fd41540649dce014a128cbe1b_0fbd36207be943fa874684ffb22bf256_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886248912467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886248904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886248920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886248937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886248947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886248927893.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": "9047b53fd41540649dce014a128cbe1b_0fbd36207be943fa874684ffb22bf256_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886248912467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886248904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886248920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886248937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886248947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886248927893.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": "4431d97ea17044ad9c09c13d16684054_3348c4c56bf44be1b5eb8146d900f081_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.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 of the ego vehicle, a gray sedan to the back of the ego vehicle, and a gray-black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,951.7,535.8>, <c2,CAM_BACK,186.0,623.3>, and <c3,CAM_FRONT,215.0,450.0>."
            }
        ]
    },
    {
        "id": "4431d97ea17044ad9c09c13d16684054_3348c4c56bf44be1b5eb8146d900f081_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,951.7,535.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4431d97ea17044ad9c09c13d16684054_3348c4c56bf44be1b5eb8146d900f081_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.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 <c3,CAM_FRONT,215.0,450.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_BACK,186.0,623.3>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,951.7,535.8>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "4431d97ea17044ad9c09c13d16684054_3348c4c56bf44be1b5eb8146d900f081_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,951.7,535.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4431d97ea17044ad9c09c13d16684054_3348c4c56bf44be1b5eb8146d900f081_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,951.7,535.8>? 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": "4431d97ea17044ad9c09c13d16684054_3348c4c56bf44be1b5eb8146d900f081_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,951.7,535.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "4431d97ea17044ad9c09c13d16684054_3348c4c56bf44be1b5eb8146d900f081_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.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 right, keep going at the same speed, and decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "4431d97ea17044ad9c09c13d16684054_3348c4c56bf44be1b5eb8146d900f081_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.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": "4431d97ea17044ad9c09c13d16684054_3dbab2c4121a413199686cb0fa13f351_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662767012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662767004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662767020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662767037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662767047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662767027893.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 of the ego vehicle, a silver sedan to the back of the ego vehicle, and a silver sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,998.5,528.3>, <c2,CAM_BACK,299.1,547.4>, and <c3,CAM_FRONT,339.2,485.0>."
            }
        ]
    },
    {
        "id": "4431d97ea17044ad9c09c13d16684054_3dbab2c4121a413199686cb0fa13f351_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662767012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662767004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662767020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662767037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662767047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662767027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,998.5,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4431d97ea17044ad9c09c13d16684054_3dbab2c4121a413199686cb0fa13f351_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662767012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662767004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662767020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662767037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662767047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662767027893.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 <c3,CAM_FRONT,339.2,485.0>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_BACK,998.5,528.3>. It is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_BACK,299.1,547.4>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "4431d97ea17044ad9c09c13d16684054_3dbab2c4121a413199686cb0fa13f351_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662767012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662767004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662767020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662767037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662767047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662767027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,998.5,528.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4431d97ea17044ad9c09c13d16684054_3dbab2c4121a413199686cb0fa13f351_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662767012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662767004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662767020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662767037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662767047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662767027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,998.5,528.3>? 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. The probability is high."
            }
        ]
    },
    {
        "id": "4431d97ea17044ad9c09c13d16684054_3dbab2c4121a413199686cb0fa13f351_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662767012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662767004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662767020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662767037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662767047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662767027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,998.5,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "4431d97ea17044ad9c09c13d16684054_3dbab2c4121a413199686cb0fa13f351_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662767012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662767004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662767020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662767037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662767047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662767027893.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 is the correct answer."
            }
        ]
    },
    {
        "id": "4431d97ea17044ad9c09c13d16684054_3dbab2c4121a413199686cb0fa13f351_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662767012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662767004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662767020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662767037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662767047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662767027893.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": "7e2d9f38f8eb409ea57b3864bb4ed098_8cc43b69bc1e48069e2b6337a1526ac5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297810862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297810854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297810870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297810887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297810897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297810878113.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 trailer truck to the back of the ego vehicle, a gray sedan to the back of the ego vehicle, a white van to the front of the ego vehicle, a white sedan car to the front left of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,660.5,464.2>, <c2,CAM_BACK,941.4,599.2>, <c3,CAM_FRONT,880.8,495.0>, <c4,CAM_FRONT_LEFT,1080.0,596.7>, and <c5,CAM_FRONT,1309.1,227.7>."
            }
        ]
    },
    {
        "id": "7e2d9f38f8eb409ea57b3864bb4ed098_8cc43b69bc1e48069e2b6337a1526ac5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297810862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297810854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297810870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297810887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297810897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297810878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,660.5,464.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7e2d9f38f8eb409ea57b3864bb4ed098_8cc43b69bc1e48069e2b6337a1526ac5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297810862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297810854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297810870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297810887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297810897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297810878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,660.5,464.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7e2d9f38f8eb409ea57b3864bb4ed098_8cc43b69bc1e48069e2b6337a1526ac5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297810862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297810854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297810870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297810887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297810897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297810878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,660.5,464.2>? 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": "7e2d9f38f8eb409ea57b3864bb4ed098_8cc43b69bc1e48069e2b6337a1526ac5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297810862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297810854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297810870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297810887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297810897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297810878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,941.4,599.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "7e2d9f38f8eb409ea57b3864bb4ed098_8cc43b69bc1e48069e2b6337a1526ac5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297810862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297810854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297810870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297810887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297810897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297810878113.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": "7e2d9f38f8eb409ea57b3864bb4ed098_8cc43b69bc1e48069e2b6337a1526ac5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297810862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297810854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297810870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297810887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297810897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297810878113.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": "7e2d9f38f8eb409ea57b3864bb4ed098_042f4c4b19864dfcae5a117e4c040072_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.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 black SUV to the front of the ego vehicle, a pedestrian wearing black clothes to the back left of the ego vehicle, a white SUV to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, and a red truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1493.9,619.2>, <c2,CAM_FRONT,447.9,553.8>, <c3,CAM_BACK_LEFT,1279.2,582.5>, <c4,CAM_FRONT_LEFT,1341.7,531.7>, <c5,CAM_FRONT,592.5,529.2>, and <c6,CAM_BACK,1028.5,502.1>."
            }
        ]
    },
    {
        "id": "7e2d9f38f8eb409ea57b3864bb4ed098_042f4c4b19864dfcae5a117e4c040072_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1493.9,619.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "7e2d9f38f8eb409ea57b3864bb4ed098_042f4c4b19864dfcae5a117e4c040072_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1493.9,619.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7e2d9f38f8eb409ea57b3864bb4ed098_042f4c4b19864dfcae5a117e4c040072_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1493.9,619.2>? 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, which is high."
            }
        ]
    },
    {
        "id": "7e2d9f38f8eb409ea57b3864bb4ed098_042f4c4b19864dfcae5a117e4c040072_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1493.9,619.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "7e2d9f38f8eb409ea57b3864bb4ed098_042f4c4b19864dfcae5a117e4c040072_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.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 turn left."
            }
        ]
    },
    {
        "id": "7e2d9f38f8eb409ea57b3864bb4ed098_042f4c4b19864dfcae5a117e4c040072_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.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": "7deb4760e2244f32b57f9d631b535b66_e5ffacbed122470a856869449784e922_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884175412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884175404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884175420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884175437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884175447429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884175427893.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 of the ego vehicle, a person riding an electric bike to the front of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,328.0,509.6>, <c2,CAM_FRONT,655.8,491.7>, and <c3,CAM_FRONT,1049.2,465.8>."
            }
        ]
    },
    {
        "id": "7deb4760e2244f32b57f9d631b535b66_e5ffacbed122470a856869449784e922_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884175412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884175404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884175420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884175437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884175447429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884175427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,1049.2,465.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7deb4760e2244f32b57f9d631b535b66_e5ffacbed122470a856869449784e922_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884175412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884175404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884175420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884175437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884175447429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884175427893.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 <c1,CAM_FRONT,328.0,509.6>. It is stationary, so the ego vehicle should decelerate gradually until it comes to a stop. Secondly, notice <c2,CAM_FRONT,655.8,491.7>. It is stationary, so the ego vehicle should slow down and go ahead. Thirdly, notice <c3,CAM_FRONT,1049.2,465.8>. It is going ahead, so the ego vehicle should decelerate gradually until it comes to a stop."
            }
        ]
    },
    {
        "id": "7deb4760e2244f32b57f9d631b535b66_e5ffacbed122470a856869449784e922_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884175412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884175404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884175420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884175437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884175447429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884175427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,328.0,509.6> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7deb4760e2244f32b57f9d631b535b66_e5ffacbed122470a856869449784e922_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884175412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884175404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884175420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884175437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884175447429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884175427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,328.0,509.6>? 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 avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "7deb4760e2244f32b57f9d631b535b66_e5ffacbed122470a856869449784e922_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884175412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884175404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884175420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884175437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884175447429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884175427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,328.0,509.6>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "7deb4760e2244f32b57f9d631b535b66_e5ffacbed122470a856869449784e922_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884175412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884175404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884175420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884175437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884175447429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884175427893.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 change to the right lane."
            }
        ]
    },
    {
        "id": "7deb4760e2244f32b57f9d631b535b66_e5ffacbed122470a856869449784e922_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884175412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884175404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884175420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884175437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884175447429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884175427893.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": "55c853d5aab04850a8059dc95e62c2ad_a5318e491a8b4234980144197f6790d9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582455662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582455654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582455670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582455687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582455697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582455678113.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 pickup truck to the front of the ego vehicle, a white pickup truck to the front right of the ego vehicle, a white truck to the front of the ego vehicle, and a gray truck to the back of the ego vehicle. The IDs of these objects are <c2,CAM_FRONT,1514.2,509.2>, <c3,CAM_FRONT_RIGHT,780.2,530.8>, <c4,CAM_FRONT,1015.0,472.5>, and <c1,CAM_BACK,856.7,482.5>."
            }
        ]
    },
    {
        "id": "55c853d5aab04850a8059dc95e62c2ad_a5318e491a8b4234980144197f6790d9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582455662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582455654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582455670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582455687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582455697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582455678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,856.7,482.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "55c853d5aab04850a8059dc95e62c2ad_a5318e491a8b4234980144197f6790d9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582455662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582455654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582455670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582455687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582455697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582455678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,856.7,482.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "55c853d5aab04850a8059dc95e62c2ad_a5318e491a8b4234980144197f6790d9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582455662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582455654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582455670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582455687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582455697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582455678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,856.7,482.5>? 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": "55c853d5aab04850a8059dc95e62c2ad_a5318e491a8b4234980144197f6790d9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582455662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582455654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582455670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582455687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582455697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582455678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,856.7,482.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "55c853d5aab04850a8059dc95e62c2ad_a5318e491a8b4234980144197f6790d9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582455662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582455654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582455670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582455687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582455697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582455678113.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, slightly offset to the left, slightly offset to the right, or decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "55c853d5aab04850a8059dc95e62c2ad_a5318e491a8b4234980144197f6790d9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582455662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582455654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582455670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582455687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582455697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582455678113.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": "55c853d5aab04850a8059dc95e62c2ad_8d1503063960478a9e041b2a485be0a1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582460112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582460104806.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582460120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582460137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582460147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582460128113.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 truck to the back of the ego vehicle, a black sedan car to the front of the ego vehicle, and a gray van to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,860.0,483.3>, <c2,CAM_FRONT,1251.7,486.7>, and <c3,CAM_FRONT,1370.0,479.2>."
            }
        ]
    },
    {
        "id": "55c853d5aab04850a8059dc95e62c2ad_8d1503063960478a9e041b2a485be0a1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582460112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582460104806.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582460120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582460137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582460147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582460128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,860.0,483.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "55c853d5aab04850a8059dc95e62c2ad_8d1503063960478a9e041b2a485be0a1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582460112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582460104806.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582460120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582460137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582460147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582460128113.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 <c3,CAM_FRONT,1370.0,479.2>; the object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c2,CAM_FRONT,1251.7,486.7>; the object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c1,CAM_BACK,860.0,483.3>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "55c853d5aab04850a8059dc95e62c2ad_8d1503063960478a9e041b2a485be0a1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582460112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582460104806.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582460120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582460137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582460147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582460128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,860.0,483.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "55c853d5aab04850a8059dc95e62c2ad_8d1503063960478a9e041b2a485be0a1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582460112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582460104806.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582460120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582460137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582460147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582460128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,860.0,483.3>? 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": "55c853d5aab04850a8059dc95e62c2ad_8d1503063960478a9e041b2a485be0a1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582460112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582460104806.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582460120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582460137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582460147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582460128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,860.0,483.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "55c853d5aab04850a8059dc95e62c2ad_8d1503063960478a9e041b2a485be0a1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582460112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582460104806.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582460120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582460137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582460147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582460128113.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, change to the left lane, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "55c853d5aab04850a8059dc95e62c2ad_8d1503063960478a9e041b2a485be0a1_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582460112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582460104806.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582460120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582460137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582460147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582460128113.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": "e12dee10fe2545e4ab88459ed4268bc6_cd2cf0a04238436690f528be44ba6dbc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193503012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193503004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193503020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193503037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193503047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193503027893.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 black SUV to the back right of the ego vehicle, a yellow and black obstacle to the front right of the ego vehicle, a black car to the front of the ego vehicle, and a cone-shaped obstacle to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1200.8,494.2>, <c2,CAM_BACK_RIGHT,300.0,703.3>, <c3,CAM_FRONT_RIGHT,596.7,776.7>, <c4,CAM_FRONT,1108.3,525.8>, and <c5,CAM_FRONT_RIGHT,96.7,851.7>."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_cd2cf0a04238436690f528be44ba6dbc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193503012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193503004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193503020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193503037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193503047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193503027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK_RIGHT,300.0,703.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_cd2cf0a04238436690f528be44ba6dbc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193503012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193503004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193503020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193503037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193503047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193503027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1200.8,494.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_cd2cf0a04238436690f528be44ba6dbc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193503012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193503004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193503020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193503037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193503047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193503027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1200.8,494.2>? 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": "e12dee10fe2545e4ab88459ed4268bc6_cd2cf0a04238436690f528be44ba6dbc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193503012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193503004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193503020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193503037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193503047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193503027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1200.8,494.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_cd2cf0a04238436690f528be44ba6dbc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193503012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193503004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193503020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193503037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193503047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193503027893.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 same speed."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_cd2cf0a04238436690f528be44ba6dbc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193503012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193503004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193503020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193503037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193503047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193503027893.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": "e12dee10fe2545e4ab88459ed4268bc6_1d0a8f5347c7447cb5e4d3f1ecf6469f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193505012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193505004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193505020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193505037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193505047425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193505027893.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 walking person to the front left of the ego vehicle, a white sedan to the back of the ego vehicle, and a black SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1388.3,522.5>, <c2,CAM_BACK,1156.7,485.8>, and <c3,CAM_FRONT_RIGHT,984.3,636.8>."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_1d0a8f5347c7447cb5e4d3f1ecf6469f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193505012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193505004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193505020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193505037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193505047425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193505027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1388.3,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_1d0a8f5347c7447cb5e4d3f1ecf6469f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193505012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193505004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193505020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193505037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193505047425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193505027893.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 <c1,CAM_FRONT_LEFT,1388.3,522.5>. It is going ahead, so the ego vehicle should continue at the same speed. Secondly, notice <c3,CAM_FRONT_RIGHT,984.3,636.8>. It is also going ahead, so the ego vehicle should continue at the same speed. Thirdly, notice <c2,CAM_BACK,1156.7,485.8>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_1d0a8f5347c7447cb5e4d3f1ecf6469f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193505012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193505004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193505020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193505037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193505047425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193505027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1388.3,522.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_1d0a8f5347c7447cb5e4d3f1ecf6469f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193505012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193505004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193505020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193505037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193505047425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193505027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1388.3,522.5>? 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": "e12dee10fe2545e4ab88459ed4268bc6_1d0a8f5347c7447cb5e4d3f1ecf6469f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193505012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193505004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193505020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193505037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193505047425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193505027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1388.3,522.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_1d0a8f5347c7447cb5e4d3f1ecf6469f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193505012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193505004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193505020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193505037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193505047425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193505027893.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 same speed."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_1d0a8f5347c7447cb5e4d3f1ecf6469f_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193505012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193505004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193505020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193505037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193505047425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193505027893.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": "e12dee10fe2545e4ab88459ed4268bc6_f0efd0739e564fa69c2802faaba20a78_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.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 pedestrian in black short sleeves to the front of the ego vehicle, a pedestrian wearing a white shirt to the front left of the ego vehicle, and a sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,820.0,460.0>, <c2,CAM_FRONT,1083.3,566.7>, <c3,CAM_FRONT_LEFT,1375.0,559.2>, and <c4,CAM_BACK,1155.8,484.2>."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_f0efd0739e564fa69c2802faaba20a78_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,820.0,460.0>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_f0efd0739e564fa69c2802faaba20a78_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,820.0,460.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_f0efd0739e564fa69c2802faaba20a78_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,820.0,460.0>? 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": "e12dee10fe2545e4ab88459ed4268bc6_f0efd0739e564fa69c2802faaba20a78_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,820.0,460.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_f0efd0739e564fa69c2802faaba20a78_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.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": "e12dee10fe2545e4ab88459ed4268bc6_f0efd0739e564fa69c2802faaba20a78_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.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": "e12dee10fe2545e4ab88459ed4268bc6_1dc322a144ef47c4ad0ec9f90cc3cdc4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193508412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193508404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193508420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193508437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193508447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193508427893.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 pedestrian wearing black shirt to the front of the ego vehicle, a sedan to the back of the ego vehicle, and a landmark line to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,454.2,455.8>, <c2,CAM_FRONT,512.5,564.2>, <c3,CAM_BACK,1157.5,484.2>, and <c4,CAM_FRONT,1168.0,692.3>."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_1dc322a144ef47c4ad0ec9f90cc3cdc4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193508412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193508404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193508420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193508437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193508447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193508427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,454.2,455.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_1dc322a144ef47c4ad0ec9f90cc3cdc4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193508412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193508404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193508420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193508437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193508447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193508427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,454.2,455.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_1dc322a144ef47c4ad0ec9f90cc3cdc4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193508412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193508404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193508420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193508437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193508447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193508427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,454.2,455.8>? 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": "e12dee10fe2545e4ab88459ed4268bc6_1dc322a144ef47c4ad0ec9f90cc3cdc4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193508412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193508404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193508420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193508437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193508447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193508427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,454.2,455.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_1dc322a144ef47c4ad0ec9f90cc3cdc4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193508412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193508404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193508420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193508437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193508447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193508427893.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": "Back up, slightly offset to the right."
            }
        ]
    },
    {
        "id": "e12dee10fe2545e4ab88459ed4268bc6_1dc322a144ef47c4ad0ec9f90cc3cdc4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193508412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193508404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193508420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193508437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193508447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193508427893.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": "c6c092a66329470f836714f46b92d59b_74f1506fb3f348a28783f117d9e50ff7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.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 person wearing gray clothes to the back left of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,819.2,540.0>, <c2,CAM_BACK_LEFT,1481.7,512.5>, and <c3,CAM_FRONT,746.7,527.5>."
            }
        ]
    },
    {
        "id": "c6c092a66329470f836714f46b92d59b_74f1506fb3f348a28783f117d9e50ff7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,819.2,540.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c6c092a66329470f836714f46b92d59b_74f1506fb3f348a28783f117d9e50ff7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.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 <c2,CAM_BACK_LEFT,1481.7,512.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,746.7,527.5>. The object is stationary, so the ego vehicle should slow down and go ahead. Thirdly, notice that <c1,CAM_FRONT,819.2,540.0>. The object is going ahead, so the ego vehicle should slow down and go ahead."
            }
        ]
    },
    {
        "id": "c6c092a66329470f836714f46b92d59b_74f1506fb3f348a28783f117d9e50ff7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,819.2,540.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c6c092a66329470f836714f46b92d59b_74f1506fb3f348a28783f117d9e50ff7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,819.2,540.0>? 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 is high."
            }
        ]
    },
    {
        "id": "c6c092a66329470f836714f46b92d59b_74f1506fb3f348a28783f117d9e50ff7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,819.2,540.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "c6c092a66329470f836714f46b92d59b_74f1506fb3f348a28783f117d9e50ff7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.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, or keep going at the same speed."
            }
        ]
    },
    {
        "id": "c6c092a66329470f836714f46b92d59b_74f1506fb3f348a28783f117d9e50ff7_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.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": "c6c092a66329470f836714f46b92d59b_4c4556946f884a32a94f5507a45e9eef_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401561512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401561504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401561520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401561537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401561547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401561527893.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 car to the front of the ego vehicle, a white truck to the front of the ego vehicle, a yellow shared bike to the front of the ego vehicle, a pedestrian in black clothes to the front right of the ego vehicle, and a pedestrian wearing brown clothes to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,925.8,506.7>, <c2,CAM_FRONT,808.3,470.0>, <c3,CAM_FRONT,735.8,465.8>, <c4,CAM_FRONT,1300.8,504.2>, <c5,CAM_FRONT_RIGHT,469.2,464.2>, and <c6,CAM_BACK_RIGHT,1209.2,475.8>."
            }
        ]
    },
    {
        "id": "c6c092a66329470f836714f46b92d59b_4c4556946f884a32a94f5507a45e9eef_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401561512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401561504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401561520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401561537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401561547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401561527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,808.3,470.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c6c092a66329470f836714f46b92d59b_4c4556946f884a32a94f5507a45e9eef_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401561512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401561504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401561520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401561537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401561547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401561527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,925.8,506.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c6c092a66329470f836714f46b92d59b_4c4556946f884a32a94f5507a45e9eef_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401561512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401561504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401561520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401561537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401561547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401561527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,925.8,506.7>? 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": "c6c092a66329470f836714f46b92d59b_4c4556946f884a32a94f5507a45e9eef_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401561512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401561504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401561520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401561537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401561547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401561527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,925.8,506.7>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,925.8,506.7>."
            }
        ]
    },
    {
        "id": "c6c092a66329470f836714f46b92d59b_4c4556946f884a32a94f5507a45e9eef_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401561512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401561504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401561520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401561537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401561547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401561527893.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": "c6c092a66329470f836714f46b92d59b_4c4556946f884a32a94f5507a45e9eef_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401561512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401561504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401561520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401561537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401561547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401561527893.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": "ba76f4185aa34ed3bff467ac640da902_2fd8f9bd71664143bc0e643a914791be_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.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 traffic cone to the front of the ego vehicle, a white van to the front right of the ego vehicle, a white sedan to the front right of the ego vehicle, a person wearing a white shirt to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,305.0,690.8>, <c2,CAM_FRONT_RIGHT,1107.5,495.8>, <c3,CAM_FRONT_RIGHT,480.0,536.7>, <c4,CAM_FRONT,549.2,595.0>, and <c5,CAM_FRONT,1576.3,269.2>."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_2fd8f9bd71664143bc0e643a914791be_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_FRONT,549.2,595.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_2fd8f9bd71664143bc0e643a914791be_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,305.0,690.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_2fd8f9bd71664143bc0e643a914791be_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_FRONT_RIGHT,1107.5,495.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is to follow the traffic rules, and the probability is high."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_2fd8f9bd71664143bc0e643a914791be_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,1107.5,495.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_2fd8f9bd71664143bc0e643a914791be_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.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 slightly offset to the right."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_2fd8f9bd71664143bc0e643a914791be_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.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 slowly."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_d0c8108acf3a43ada1a6dd6c221abd18_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114339862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114339854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114339870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114339887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114339897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114339877893.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 roadblock to the front of the ego vehicle, a yellow bicycle to the front of the ego vehicle, and a blue sedan car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1331.7,718.1>, <c2,CAM_FRONT,233.3,512.5>, and <c3,CAM_FRONT,1310.0,553.3>."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_d0c8108acf3a43ada1a6dd6c221abd18_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114339862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114339854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114339870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114339887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114339897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114339877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,1310.0,553.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_d0c8108acf3a43ada1a6dd6c221abd18_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114339862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114339854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114339870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114339887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114339897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114339877893.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 <c1,CAM_FRONT,1331.7,718.1>; it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_FRONT,1310.0,553.3>; it is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_FRONT,233.3,512.5>; it is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_d0c8108acf3a43ada1a6dd6c221abd18_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114339862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114339854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114339870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114339887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114339897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114339877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1331.7,718.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_d0c8108acf3a43ada1a6dd6c221abd18_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114339862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114339854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114339870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114339887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114339897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114339877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_FRONT,233.3,512.5>? 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": "ba76f4185aa34ed3bff467ac640da902_d0c8108acf3a43ada1a6dd6c221abd18_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114339862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114339854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114339870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114339887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114339897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114339877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,233.3,512.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_d0c8108acf3a43ada1a6dd6c221abd18_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114339862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114339854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114339870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114339887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114339897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114339877893.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, change to the left lane, slightly offset to the left, brake gently to a stop, decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_d0c8108acf3a43ada1a6dd6c221abd18_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114339862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114339854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114339870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114339887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114339897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114339877893.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": "ba76f4185aa34ed3bff467ac640da902_b48b532c3e1943578c4cf9e1a8230541_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114327612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114327604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114327620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114327637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114327647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114327627893.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 back of the ego vehicle, a black sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white van to the front right of the ego vehicle, a roadblock to the front of the ego vehicle, and a please proceed to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,926.7,510.8>, <c2,CAM_FRONT,1295.8,547.5>, <c3,CAM_FRONT,682.5,519.2>, <c4,CAM_FRONT_RIGHT,715.8,513.3>, <c5,CAM_FRONT,105.0,696.7>, and <c6,CAM_FRONT_LEFT,1288.2,242.1>."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_b48b532c3e1943578c4cf9e1a8230541_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114327612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114327604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114327620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114327637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114327647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114327627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,926.7,510.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_b48b532c3e1943578c4cf9e1a8230541_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114327612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114327604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114327620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114327637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114327647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114327627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,926.7,510.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_b48b532c3e1943578c4cf9e1a8230541_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114327612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114327604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114327620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114327637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114327647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114327627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,926.7,510.8>? 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": "ba76f4185aa34ed3bff467ac640da902_b48b532c3e1943578c4cf9e1a8230541_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114327612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114327604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114327620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114327637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114327647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114327627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,926.7,510.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_b48b532c3e1943578c4cf9e1a8230541_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114327612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114327604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114327620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114327637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114327647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114327627893.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, slightly offset to the right, turn right, or turn left."
            }
        ]
    },
    {
        "id": "ba76f4185aa34ed3bff467ac640da902_b48b532c3e1943578c4cf9e1a8230541_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114327612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114327604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114327620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114327637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114327647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114327627893.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 with normal speed."
            }
        ]
    },
    {
        "id": "9056ac9944e846109b00e31cc96259cb_7fc1d2f92f1842b99b491aa0e75593ae_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385067662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385067654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385067670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385067687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385067697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385067678113.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 traffic police to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a traffic police to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1008.3,494.2>, <c2,CAM_BACK,912.0,613.8>, and <c3,CAM_FRONT,1086.7,482.5>."
            }
        ]
    },
    {
        "id": "9056ac9944e846109b00e31cc96259cb_7fc1d2f92f1842b99b491aa0e75593ae_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385067662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385067654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385067670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385067687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385067697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385067678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1008.3,494.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9056ac9944e846109b00e31cc96259cb_7fc1d2f92f1842b99b491aa0e75593ae_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385067662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385067654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385067670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385067687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385067697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385067678113.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 <c1,CAM_FRONT,1008.3,494.2>. The object is going ahead, so the ego vehicle should slightly offset to the left in maneuvering. Secondly, notice <c3,CAM_FRONT,1086.7,482.5>. The object is going ahead, so the ego vehicle should slightly offset to the left in maneuvering. Thirdly, notice <c2,CAM_BACK,912.0,613.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "9056ac9944e846109b00e31cc96259cb_7fc1d2f92f1842b99b491aa0e75593ae_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385067662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385067654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385067670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385067687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385067697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385067678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1008.3,494.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9056ac9944e846109b00e31cc96259cb_7fc1d2f92f1842b99b491aa0e75593ae_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385067662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385067654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385067670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385067687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385067697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385067678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1008.3,494.2>? 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": "9056ac9944e846109b00e31cc96259cb_7fc1d2f92f1842b99b491aa0e75593ae_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385067662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385067654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385067670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385067687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385067697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385067678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1008.3,494.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,1008.3,494.2>."
            }
        ]
    },
    {
        "id": "9056ac9944e846109b00e31cc96259cb_7fc1d2f92f1842b99b491aa0e75593ae_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385067662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385067654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385067670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385067687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385067697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385067678113.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."
            }
        ]
    },
    {
        "id": "9056ac9944e846109b00e31cc96259cb_7fc1d2f92f1842b99b491aa0e75593ae_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385067662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385067654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385067670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385067687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385067697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385067678113.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": "9056ac9944e846109b00e31cc96259cb_124db1e887a9426baf94edb527e27e96_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385053112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385053104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385053120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385053137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385053147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385053128113.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 pickup truck to the front of the ego vehicle, a black sedan car to the back of the ego vehicle, a white pickup truck to the front left of the ego vehicle, a silver sedan to the front left of the ego vehicle, and a silver sedan to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,957.5,493.3>, <c2,CAM_BACK,814.6,532.5>, <c3,CAM_FRONT_LEFT,1151.7,501.7>, <c4,CAM_FRONT_LEFT,1480.0,509.2>, and <c5,CAM_BACK_LEFT,628.3,580.8>."
            }
        ]
    },
    {
        "id": "9056ac9944e846109b00e31cc96259cb_124db1e887a9426baf94edb527e27e96_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385053112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385053104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385053120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385053137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385053147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385053128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,814.6,532.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9056ac9944e846109b00e31cc96259cb_124db1e887a9426baf94edb527e27e96_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385053112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385053104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385053120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385053137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385053147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385053128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,957.5,493.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9056ac9944e846109b00e31cc96259cb_124db1e887a9426baf94edb527e27e96_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385053112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385053104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385053120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385053137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385053147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385053128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,957.5,493.3>? 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": "9056ac9944e846109b00e31cc96259cb_124db1e887a9426baf94edb527e27e96_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385053112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385053104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385053120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385053137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385053147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385053128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,957.5,493.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "9056ac9944e846109b00e31cc96259cb_124db1e887a9426baf94edb527e27e96_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385053112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385053104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385053120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385053137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385053147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385053128113.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": "9056ac9944e846109b00e31cc96259cb_124db1e887a9426baf94edb527e27e96_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385053112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385053104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385053120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385053137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385053147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385053128113.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 fast."
            }
        ]
    },
    {
        "id": "7061c4fa99a44d02af4a3e2689be4457_952c98c5dcc34c8dba621e3cdef355b3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800366362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800366354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800366370352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800366387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800366397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800366377893.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 car to the front right of the ego vehicle, a white sedan 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 <c1,CAM_FRONT_RIGHT,1219.5,685.2>, <c2,CAM_FRONT,811.7,585.0>, <c3,CAM_FRONT,220.0,605.4>, and <c4,CAM_FRONT,1200.8,605.0>."
            }
        ]
    },
    {
        "id": "7061c4fa99a44d02af4a3e2689be4457_952c98c5dcc34c8dba621e3cdef355b3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800366362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800366354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800366370352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800366387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800366397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800366377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,1219.5,685.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7061c4fa99a44d02af4a3e2689be4457_952c98c5dcc34c8dba621e3cdef355b3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800366362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800366354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800366370352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800366387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800366397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800366377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1219.5,685.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7061c4fa99a44d02af4a3e2689be4457_952c98c5dcc34c8dba621e3cdef355b3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800366362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800366354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800366370352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800366387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800366397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800366377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1219.5,685.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn left. The reason is to avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "7061c4fa99a44d02af4a3e2689be4457_952c98c5dcc34c8dba621e3cdef355b3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800366362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800366354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800366370352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800366387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800366397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800366377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1219.5,685.2>?"
            },
            {
                "from": "gpt",
                "value": "Change to the right lane can lead to a collision with <c1,CAM_FRONT_RIGHT,1219.5,685.2>."
            }
        ]
    },
    {
        "id": "7061c4fa99a44d02af4a3e2689be4457_952c98c5dcc34c8dba621e3cdef355b3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800366362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800366354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800366370352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800366387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800366397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800366377893.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": "7061c4fa99a44d02af4a3e2689be4457_952c98c5dcc34c8dba621e3cdef355b3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800366362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800366354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800366370352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800366387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800366397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800366377893.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 fast."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_946aac5d664b4e7085fd966ab502fa6c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402750162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402750154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402750170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402750187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402750197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402750177893.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-shirted pedestrian to the front right of the ego vehicle, a black sedan to the front of the ego vehicle, a person wearing a blue shirt to the back right of the ego vehicle, a white truck to the front right of the ego vehicle, and a blue shirt pedestrian to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,244.2,565.0>, <c2,CAM_FRONT,693.3,489.2>, <c3,CAM_BACK_RIGHT,870.0,632.5>, <c4,CAM_FRONT_RIGHT,1047.5,501.7>, and <c5,CAM_BACK_RIGHT,1228.3,590.8>."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_946aac5d664b4e7085fd966ab502fa6c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402750162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402750154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402750170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402750187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402750197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402750177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,244.2,565.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_946aac5d664b4e7085fd966ab502fa6c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402750162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402750154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402750170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402750187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402750197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402750177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,244.2,565.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_946aac5d664b4e7085fd966ab502fa6c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402750162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402750154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402750170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402750187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402750197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402750177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,244.2,565.0>? 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": "433a14f8dcf5457fb2c4def5c749122a_946aac5d664b4e7085fd966ab502fa6c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402750162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402750154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402750170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402750187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402750197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402750177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,244.2,565.0>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_946aac5d664b4e7085fd966ab502fa6c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402750162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402750154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402750170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402750187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402750197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402750177893.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": "433a14f8dcf5457fb2c4def5c749122a_946aac5d664b4e7085fd966ab502fa6c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402750162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402750154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402750170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402750187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402750197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402750177893.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": "433a14f8dcf5457fb2c4def5c749122a_763dafaff2924e2899184c0cc9f3cfdc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402751662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402751654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402751670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402751687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402751697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402751677893.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 bicycle to the front of the ego vehicle, a green to the back right of the ego vehicle, a black sedan to the front of the ego vehicle, a black traffic light to the front of the ego vehicle, and a black traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,110.8,580.8>, <c2,CAM_BACK_RIGHT,475.0,606.7>, <c3,CAM_FRONT,740.0,485.0>, <c4,CAM_FRONT,762.1,317.0>, and <c5,CAM_FRONT,383.2,351.6>."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_763dafaff2924e2899184c0cc9f3cfdc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402751662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402751654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402751670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402751687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402751697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402751677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,740.0,485.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_763dafaff2924e2899184c0cc9f3cfdc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402751662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402751654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402751670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402751687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402751697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402751677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,110.8,580.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_763dafaff2924e2899184c0cc9f3cfdc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402751662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402751654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402751670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402751687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402751697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402751677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,110.8,580.8>? 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": "433a14f8dcf5457fb2c4def5c749122a_763dafaff2924e2899184c0cc9f3cfdc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402751662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402751654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402751670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402751687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402751697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402751677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,110.8,580.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_763dafaff2924e2899184c0cc9f3cfdc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402751662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402751654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402751670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402751687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402751697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402751677893.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, brake gently to a stop, and turn left."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_763dafaff2924e2899184c0cc9f3cfdc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402751662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402751654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402751670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402751687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402751697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402751677893.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": "433a14f8dcf5457fb2c4def5c749122a_be529d309a774444928de219a12d77c2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402747662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402747654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402747670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402747687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402747697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402747677893.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 front of the ego vehicle, a woman wearing a white shirt to the front of the ego vehicle, a white SUV to the back of the ego vehicle, a woman wearing a gray jacket to the front of the ego vehicle, a man with orange backpack to the front of the ego vehicle, and a woman wearing a black top to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,585.0,480.8>, <c2,CAM_FRONT,1109.2,515.0>, <c3,CAM_BACK,1163.3,555.0>, <c4,CAM_FRONT,172.2,615.8>, <c5,CAM_FRONT,1365.0,536.7>, and <c6,CAM_FRONT_LEFT,1287.5,530.0>."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_be529d309a774444928de219a12d77c2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402747662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402747654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402747670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402747687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402747697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402747677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,585.0,480.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_be529d309a774444928de219a12d77c2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402747662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402747654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402747670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402747687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402747697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402747677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,585.0,480.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_be529d309a774444928de219a12d77c2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402747662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402747654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402747670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402747687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402747697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402747677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,585.0,480.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to decelerate gradually without braking because it helps maintain a safe distance. The probability of this action is high."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_be529d309a774444928de219a12d77c2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402747662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402747654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402747670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402747687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402747697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402747677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,585.0,480.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_be529d309a774444928de219a12d77c2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402747662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402747654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402747670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402747687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402747697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402747677893.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, or brake suddenly."
            }
        ]
    },
    {
        "id": "433a14f8dcf5457fb2c4def5c749122a_be529d309a774444928de219a12d77c2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402747662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402747654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402747670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402747687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402747697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402747677893.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": "3359935281a34136992997acab7cdddd_4f4c25978b4b4ca1b114922db6b157d5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731047862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731047854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731047870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731047887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731047897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731047878113.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 pickup truck to the back of the ego vehicle, a black sedan to the back of the ego vehicle, a blue sedan to the front of the ego vehicle, a red truck to the front of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,238.8,576.7>, <c2,CAM_BACK,815.8,640.0>, <c3,CAM_FRONT,819.2,537.5>, <c4,CAM_FRONT,820.0,504.2>, and <c5,CAM_FRONT,662.9,456.2>."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_4f4c25978b4b4ca1b114922db6b157d5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731047862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731047854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731047870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731047887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731047897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731047878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,238.8,576.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_4f4c25978b4b4ca1b114922db6b157d5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731047862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731047854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731047870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731047887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731047897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731047878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,238.8,576.7>? 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": "3359935281a34136992997acab7cdddd_4f4c25978b4b4ca1b114922db6b157d5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731047862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731047854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731047870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731047887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731047897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731047878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,238.8,576.7>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,238.8,576.7>."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_4f4c25978b4b4ca1b114922db6b157d5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731047862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731047854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731047870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731047887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731047897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731047878113.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 continue straight ahead."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_4f4c25978b4b4ca1b114922db6b157d5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731047862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731047854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731047870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731047887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731047897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731047878113.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": "3359935281a34136992997acab7cdddd_f8c5aff1dfd34dc4a6ad8292bfa9cab1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731055262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731055254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731055270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731055287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731055297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731055278113.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 car to the back of the ego vehicle, a white sedan to the back right of the ego vehicle, a blue car to the front of the ego vehicle, and a red truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1009.2,637.5>, <c2,CAM_BACK_RIGHT,1149.0,643.5>, <c3,CAM_FRONT,760.0,565.8>, and <c4,CAM_FRONT,820.8,460.8>."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_f8c5aff1dfd34dc4a6ad8292bfa9cab1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731055262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731055254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731055270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731055287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731055297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731055278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1009.2,637.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_f8c5aff1dfd34dc4a6ad8292bfa9cab1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731055262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731055254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731055270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731055287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731055297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731055278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1009.2,637.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_f8c5aff1dfd34dc4a6ad8292bfa9cab1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731055262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731055254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731055270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731055287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731055297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731055278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1009.2,637.5>? 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 avoid a collision, which is high in probability."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_f8c5aff1dfd34dc4a6ad8292bfa9cab1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731055262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731055254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731055270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731055287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731055297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731055278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1009.2,637.5>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_f8c5aff1dfd34dc4a6ad8292bfa9cab1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731055262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731055254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731055270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731055287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731055297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731055278113.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, brake suddenly."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_f8c5aff1dfd34dc4a6ad8292bfa9cab1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731055262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731055254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731055270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731055287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731055297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731055278113.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": "3359935281a34136992997acab7cdddd_31708fd46e3c4eee8d753bfaaaef7e16_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731049412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731049404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731049420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731049437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731049447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731049428113.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 pickup truck to the back of the ego vehicle, a black sedan to the back of the ego vehicle, a blue car to the front of the ego vehicle, a black truck to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,443.3,515.8>, <c2,CAM_BACK,790.0,598.3>, <c3,CAM_FRONT,785.0,545.0>, <c4,CAM_FRONT,785.8,508.3>, and <c5,CAM_FRONT,574.5,454.3>."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_31708fd46e3c4eee8d753bfaaaef7e16_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731049412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731049404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731049420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731049437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731049447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731049428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,790.0,598.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_31708fd46e3c4eee8d753bfaaaef7e16_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731049412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731049404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731049420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731049437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731049447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731049428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,443.3,515.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_31708fd46e3c4eee8d753bfaaaef7e16_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731049412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731049404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731049420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731049437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731049447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731049428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,443.3,515.8>? 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": "3359935281a34136992997acab7cdddd_31708fd46e3c4eee8d753bfaaaef7e16_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731049412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731049404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731049420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731049437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731049447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731049428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,790.0,598.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_31708fd46e3c4eee8d753bfaaaef7e16_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731049412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731049404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731049420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731049437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731049447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731049428113.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": "Change to the right lane, and brake gently to a stop."
            }
        ]
    },
    {
        "id": "3359935281a34136992997acab7cdddd_31708fd46e3c4eee8d753bfaaaef7e16_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731049412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731049404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731049420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731049437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731049447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731049428113.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": "f77e66f97d204b5da547f6c007dc2abf_864acfb0a2fd406dbbfde50ad1874b43_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932206412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932206404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932206420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932206437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932206447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932206427893.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 black clothes to the back of the ego vehicle, a blue sedan to the front of the ego vehicle, and a white straight left turn arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1560.8,540.8>, <c2,CAM_FRONT,915.8,494.2>, and <c3,CAM_FRONT,893.6,842.0>."
            }
        ]
    },
    {
        "id": "f77e66f97d204b5da547f6c007dc2abf_864acfb0a2fd406dbbfde50ad1874b43_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932206412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932206404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932206420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932206437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932206447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932206427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1560.8,540.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f77e66f97d204b5da547f6c007dc2abf_864acfb0a2fd406dbbfde50ad1874b43_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932206412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932206404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932206420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932206437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932206447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932206427893.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 <c3,CAM_FRONT,893.6,842.0>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,915.8,494.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,1560.8,540.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "f77e66f97d204b5da547f6c007dc2abf_864acfb0a2fd406dbbfde50ad1874b43_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932206412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932206404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932206420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932206437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932206447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932206427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1560.8,540.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f77e66f97d204b5da547f6c007dc2abf_864acfb0a2fd406dbbfde50ad1874b43_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932206412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932206404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932206420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932206437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932206447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932206427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1560.8,540.8>? 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 of taking this action is high."
            }
        ]
    },
    {
        "id": "f77e66f97d204b5da547f6c007dc2abf_864acfb0a2fd406dbbfde50ad1874b43_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932206412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932206404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932206420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932206437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932206447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932206427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,915.8,494.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "f77e66f97d204b5da547f6c007dc2abf_864acfb0a2fd406dbbfde50ad1874b43_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932206412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932206404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932206420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932206437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932206447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932206427893.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": "f77e66f97d204b5da547f6c007dc2abf_864acfb0a2fd406dbbfde50ad1874b43_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932206412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932206404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932206420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932206437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932206447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932206427893.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": "f77e66f97d204b5da547f6c007dc2abf_063fb3a79b734322b1cabbe511fbc332_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932216412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932216404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932216420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932216437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932216447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932216427893.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 blue van to the front of the ego vehicle, a man wearing a white shirt to the front of the ego vehicle, a black commercial vehicle to the back left of the ego vehicle, and a white straight or right-turn arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,898.3,551.7>, <c2,CAM_FRONT,620.8,489.2>, <c3,CAM_FRONT,800.8,486.7>, <c4,CAM_BACK_LEFT,803.3,587.2>, and <c5,CAM_FRONT,814.1,591.0>."
            }
        ]
    },
    {
        "id": "f77e66f97d204b5da547f6c007dc2abf_063fb3a79b734322b1cabbe511fbc332_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932216412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932216404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932216420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932216437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932216447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932216427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,898.3,551.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f77e66f97d204b5da547f6c007dc2abf_063fb3a79b734322b1cabbe511fbc332_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932216412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932216404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932216420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932216437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932216447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932216427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,898.3,551.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f77e66f97d204b5da547f6c007dc2abf_063fb3a79b734322b1cabbe511fbc332_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932216412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932216404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932216420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932216437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932216447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932216427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,898.3,551.7>? 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 to avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "f77e66f97d204b5da547f6c007dc2abf_063fb3a79b734322b1cabbe511fbc332_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932216412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932216404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932216420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932216437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932216447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932216427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,898.3,551.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "f77e66f97d204b5da547f6c007dc2abf_063fb3a79b734322b1cabbe511fbc332_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932216412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932216404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932216420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932216437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932216447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932216427893.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": "f77e66f97d204b5da547f6c007dc2abf_063fb3a79b734322b1cabbe511fbc332_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932216412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932216404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932216420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932216437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932216447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932216427893.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": "64eef73c4f564a3db415e965f6460012_f36d7165f8d84e94ace33321ab3eca26_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292700612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292700604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292700620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292700637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292700647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292700628113.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 white sedan to the back of the ego vehicle, a black sedan to the front of the ego vehicle, a traffic police to the back of the ego vehicle, and a white pickup truck to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1220.8,527.5>, <c2,CAM_BACK,940.0,485.0>, <c3,CAM_FRONT,308.2,602.1>, <c4,CAM_BACK,49.2,524.2>, and <c5,CAM_FRONT_RIGHT,1219.2,458.3>."
            }
        ]
    },
    {
        "id": "64eef73c4f564a3db415e965f6460012_f36d7165f8d84e94ace33321ab3eca26_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292700612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292700604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292700620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292700637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292700647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292700628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,940.0,485.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "64eef73c4f564a3db415e965f6460012_f36d7165f8d84e94ace33321ab3eca26_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292700612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292700604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292700620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292700637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292700647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292700628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1220.8,527.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "64eef73c4f564a3db415e965f6460012_f36d7165f8d84e94ace33321ab3eca26_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292700612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292700604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292700620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292700637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292700647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292700628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1220.8,527.5>? 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": "64eef73c4f564a3db415e965f6460012_f36d7165f8d84e94ace33321ab3eca26_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292700612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292700604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292700620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292700637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292700647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292700628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1220.8,527.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "64eef73c4f564a3db415e965f6460012_f36d7165f8d84e94ace33321ab3eca26_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292700612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292700604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292700620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292700637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292700647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292700628113.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 suddenly."
            }
        ]
    },
    {
        "id": "64eef73c4f564a3db415e965f6460012_f36d7165f8d84e94ace33321ab3eca26_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292700612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292700604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292700620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292700637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292700647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292700628113.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": "fb3aaad97849430cbc32891319c9be10_b3d3332c872249828bf7e72e60e8fff7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708455762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708455754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708455770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708455787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708455797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708455778113.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 right of the ego vehicle, a black sedan to the back of the ego vehicle, pedestrians crossing the road to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a pedestrian to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1030.9,478.6>, <c2,CAM_BACK,964.2,494.2>, <c3,CAM_FRONT,1032.5,508.3>, <c4,CAM_BACK,204.2,680.8>, <c5,CAM_FRONT,1232.5,511.7>, and <c6,CAM_FRONT,810.0,448.3>."
            }
        ]
    },
    {
        "id": "fb3aaad97849430cbc32891319c9be10_b3d3332c872249828bf7e72e60e8fff7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708455762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708455754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708455770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708455787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708455797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708455778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,1032.5,508.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fb3aaad97849430cbc32891319c9be10_b3d3332c872249828bf7e72e60e8fff7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708455762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708455754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708455770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708455787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708455797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708455778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1030.9,478.6> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fb3aaad97849430cbc32891319c9be10_b3d3332c872249828bf7e72e60e8fff7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708455762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708455754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708455770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708455787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708455797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708455778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1030.9,478.6>? 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": "fb3aaad97849430cbc32891319c9be10_b3d3332c872249828bf7e72e60e8fff7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708455762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708455754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708455770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708455787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708455797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708455778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1030.9,478.6>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "fb3aaad97849430cbc32891319c9be10_b3d3332c872249828bf7e72e60e8fff7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708455762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708455754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708455770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708455787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708455797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708455778113.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": "fb3aaad97849430cbc32891319c9be10_b3d3332c872249828bf7e72e60e8fff7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708455762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708455754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708455770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708455787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708455797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708455778113.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": "a8819942e8bb43b6a832c56dfb78cfc6_3f7ba6582ba94d6cb62c292aec382dc1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153278762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153278754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153278770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153278787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153278797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153278778113.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 of the ego vehicle, a black SUV to the front left of the ego vehicle, and a white commercial vehicle to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1095.0,512.5>, <c2,CAM_FRONT_LEFT,705.8,464.2>, and <c3,CAM_FRONT_LEFT,1134.2,457.5>."
            }
        ]
    },
    {
        "id": "a8819942e8bb43b6a832c56dfb78cfc6_3f7ba6582ba94d6cb62c292aec382dc1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153278762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153278754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153278770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153278787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153278797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153278778113.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 <c2,CAM_FRONT_LEFT,705.8,464.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_LEFT,1134.2,457.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,1095.0,512.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "a8819942e8bb43b6a832c56dfb78cfc6_3f7ba6582ba94d6cb62c292aec382dc1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153278762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153278754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153278770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153278787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153278797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153278778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1095.0,512.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a8819942e8bb43b6a832c56dfb78cfc6_3f7ba6582ba94d6cb62c292aec382dc1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153278762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153278754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153278770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153278787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153278797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153278778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1095.0,512.5>? 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": "a8819942e8bb43b6a832c56dfb78cfc6_3f7ba6582ba94d6cb62c292aec382dc1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153278762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153278754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153278770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153278787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153278797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153278778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1095.0,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "a8819942e8bb43b6a832c56dfb78cfc6_3f7ba6582ba94d6cb62c292aec382dc1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153278762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153278754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153278770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153278787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153278797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153278778113.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": "a8819942e8bb43b6a832c56dfb78cfc6_3f7ba6582ba94d6cb62c292aec382dc1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153278762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153278754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153278770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153278787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153278797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153278778113.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": "a8819942e8bb43b6a832c56dfb78cfc6_31e890702ba847fe973eac8852110ed8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153287412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153287404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153287420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153287437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153287447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153287428113.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 left of the ego vehicle, a white SUV to the front of the ego vehicle, and a black SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,671.7,445.0>, <c2,CAM_FRONT,1028.3,505.0>, and <c3,CAM_FRONT_RIGHT,142.5,510.0>."
            }
        ]
    },
    {
        "id": "a8819942e8bb43b6a832c56dfb78cfc6_31e890702ba847fe973eac8852110ed8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153287412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153287404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153287420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153287437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153287447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153287428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1028.3,505.0>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "a8819942e8bb43b6a832c56dfb78cfc6_31e890702ba847fe973eac8852110ed8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153287412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153287404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153287420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153287437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153287447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153287428113.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 <c2,CAM_FRONT,1028.3,505.0>. The object is turning right, so the ego vehicle should slow down and proceed. Secondly, notice that <c1,CAM_FRONT_LEFT,671.7,445.0>. The object is stationary, so the ego vehicle should slow down and proceed. Thirdly, notice that <c3,CAM_FRONT_RIGHT,142.5,510.0>. The object is stationary, so the ego vehicle should slow down and proceed."
            }
        ]
    },
    {
        "id": "a8819942e8bb43b6a832c56dfb78cfc6_31e890702ba847fe973eac8852110ed8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153287412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153287404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153287420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153287437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153287447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153287428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,671.7,445.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a8819942e8bb43b6a832c56dfb78cfc6_31e890702ba847fe973eac8852110ed8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153287412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153287404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153287420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153287437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153287447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153287428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,671.7,445.0>? 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 low probability."
            }
        ]
    },
    {
        "id": "a8819942e8bb43b6a832c56dfb78cfc6_31e890702ba847fe973eac8852110ed8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153287412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153287404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153287420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153287437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153287447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153287428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,671.7,445.0>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "a8819942e8bb43b6a832c56dfb78cfc6_31e890702ba847fe973eac8852110ed8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153287412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153287404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153287420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153287437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153287447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153287428113.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": "a8819942e8bb43b6a832c56dfb78cfc6_31e890702ba847fe973eac8852110ed8_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153287412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153287404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153287420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153287437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153287447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153287428113.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": "5dd272b76c3f4e2582040a91f2be2dde_7f611811c7d14a8193cd183412e23960_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986052662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986052654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986052670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986052687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986052697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986052677893.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 black SUV to the front of the ego vehicle, and a white car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,948.3,555.8>, <c2,CAM_FRONT,241.7,458.3>, and <c3,CAM_FRONT,470.8,508.3>."
            }
        ]
    },
    {
        "id": "5dd272b76c3f4e2582040a91f2be2dde_7f611811c7d14a8193cd183412e23960_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986052662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986052654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986052670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986052687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986052697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986052677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,948.3,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5dd272b76c3f4e2582040a91f2be2dde_7f611811c7d14a8193cd183412e23960_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986052662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986052654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986052670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986052687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986052697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986052677893.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 <c3,CAM_FRONT,470.8,508.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,241.7,458.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,948.3,555.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "5dd272b76c3f4e2582040a91f2be2dde_7f611811c7d14a8193cd183412e23960_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986052662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986052654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986052670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986052687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986052697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986052677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,948.3,555.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5dd272b76c3f4e2582040a91f2be2dde_7f611811c7d14a8193cd183412e23960_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986052662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986052654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986052670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986052687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986052697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986052677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,948.3,555.8>? 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": "5dd272b76c3f4e2582040a91f2be2dde_7f611811c7d14a8193cd183412e23960_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986052662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986052654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986052670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986052687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986052697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986052677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,948.3,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "5dd272b76c3f4e2582040a91f2be2dde_7f611811c7d14a8193cd183412e23960_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986052662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986052654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986052670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986052687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986052697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986052677893.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": "5dd272b76c3f4e2582040a91f2be2dde_7f611811c7d14a8193cd183412e23960_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986052662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986052654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986052670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986052687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986052697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986052677893.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 fast."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_04167c559abe477ab8b979a5b987ef7e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478548662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478548654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478548670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478548687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478548697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478548678113.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 roadblock to the front of the ego vehicle, a dark blue SUV to the back of the ego vehicle, a white SUV to the front right of the ego vehicle, and a person wearing a blue shirt and black pants to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,440.0,574.2>, <c2,CAM_BACK,828.3,590.8>, <c3,CAM_FRONT_RIGHT,280.0,469.2>, and <c4,CAM_FRONT,682.5,520.8>."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_04167c559abe477ab8b979a5b987ef7e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478548662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478548654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478548670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478548687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478548697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478548678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,828.3,590.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_04167c559abe477ab8b979a5b987ef7e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478548662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478548654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478548670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478548687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478548697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478548678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,440.0,574.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_04167c559abe477ab8b979a5b987ef7e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478548662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478548654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478548670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478548687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478548697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478548678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_BACK,828.3,590.8>? 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": "c59fe8015e3743329ec907bc29c93124_04167c559abe477ab8b979a5b987ef7e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478548662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478548654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478548670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478548687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478548697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478548678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,828.3,590.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_04167c559abe477ab8b979a5b987ef7e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478548662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478548654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478548670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478548687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478548697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478548678113.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": "c59fe8015e3743329ec907bc29c93124_04167c559abe477ab8b979a5b987ef7e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478548662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478548654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478548670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478548687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478548697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478548678113.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": "c59fe8015e3743329ec907bc29c93124_601a50651b2e4334b71ac4336421e44b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478543912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478543904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478543920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478543937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478543947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478543928113.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, an orange and white van to the back left of the ego vehicle, a black truck to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,804.2,530.8>, <c2,CAM_BACK_LEFT,1122.0,564.7>, <c3,CAM_FRONT,279.2,470.0>, and <c4,CAM_BACK,1002.5,515.8>."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_601a50651b2e4334b71ac4336421e44b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478543912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478543904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478543920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478543937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478543947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478543928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,804.2,530.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_601a50651b2e4334b71ac4336421e44b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478543912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478543904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478543920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478543937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478543947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478543928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,804.2,530.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_601a50651b2e4334b71ac4336421e44b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478543912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478543904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478543920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478543937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478543947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478543928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,804.2,530.8>? 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": "c59fe8015e3743329ec907bc29c93124_601a50651b2e4334b71ac4336421e44b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478543912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478543904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478543920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478543937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478543947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478543928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,804.2,530.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_601a50651b2e4334b71ac4336421e44b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478543912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478543904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478543920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478543937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478543947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478543928113.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": "c59fe8015e3743329ec907bc29c93124_601a50651b2e4334b71ac4336421e44b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478543912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478543904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478543920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478543937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478543947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478543928113.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": "c59fe8015e3743329ec907bc29c93124_c204154558ab4ed48a4daeeb0099bb95_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478536928113.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 blue-gray sedan to the back of the ego vehicle, and a white van to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,456.7,550.0>, <c2,CAM_BACK,681.7,541.7>, and <c3,CAM_FRONT_RIGHT,456.7,469.2>."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_c204154558ab4ed48a4daeeb0099bb95_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478536928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,681.7,541.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_c204154558ab4ed48a4daeeb0099bb95_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478536928113.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 <c3,CAM_FRONT_RIGHT,456.7,469.2>, which is stationary. The ego vehicle should continue ahead at the same speed. Secondly, notice <c2,CAM_BACK,681.7,541.7>, which is going ahead. The ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_BACK,456.7,550.0>, which is stationary. The ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_c204154558ab4ed48a4daeeb0099bb95_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478536928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,456.7,550.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_c204154558ab4ed48a4daeeb0099bb95_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478536928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,456.7,550.0>? 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": "c59fe8015e3743329ec907bc29c93124_c204154558ab4ed48a4daeeb0099bb95_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478536928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,681.7,541.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_c204154558ab4ed48a4daeeb0099bb95_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478536928113.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 turn right."
            }
        ]
    },
    {
        "id": "c59fe8015e3743329ec907bc29c93124_c204154558ab4ed48a4daeeb0099bb95_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478536928113.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": "c8e6213038884d05907b1edd7e55552e_a9d39535b28f41049201119607a57a0d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985489162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985489154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985489170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985489187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985489197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985489177893.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 cone bucket to the front of the ego vehicle, a pedestrian to the front right of the ego vehicle, and a blue car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1264.2,591.7>, <c2,CAM_FRONT_RIGHT,323.3,570.8>, and <c3,CAM_BACK,778.3,592.5>."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_a9d39535b28f41049201119607a57a0d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985489162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985489154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985489170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985489187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985489197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985489177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,323.3,570.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_a9d39535b28f41049201119607a57a0d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985489162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985489154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985489170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985489187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985489197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985489177893.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 <c2,CAM_FRONT_RIGHT,323.3,570.8>. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice <c3,CAM_BACK,778.3,592.5>. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice <c1,CAM_FRONT,1264.2,591.7>. It is a traffic sign, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_a9d39535b28f41049201119607a57a0d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985489162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985489154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985489170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985489187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985489197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985489177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1264.2,591.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_a9d39535b28f41049201119607a57a0d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985489162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985489154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985489170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985489187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985489197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985489177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_FRONT_RIGHT,323.3,570.8>? 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": "c8e6213038884d05907b1edd7e55552e_a9d39535b28f41049201119607a57a0d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985489162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985489154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985489170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985489187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985489197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985489177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,323.3,570.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_a9d39535b28f41049201119607a57a0d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985489162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985489154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985489170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985489187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985489197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985489177893.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 ahead."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_a9d39535b28f41049201119607a57a0d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985489162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985489154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985489170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985489187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985489197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985489177893.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": "c8e6213038884d05907b1edd7e55552e_c799c98684284cf697543d1fb0d3b539_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985497612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985497604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985497620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985497637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985497647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985497627893.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 black sedan to the back of the ego vehicle, a white sedan to the back right of the ego vehicle, a blue sedan to the back of the ego vehicle, and an orange bus to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,830.8,470.8>, <c2,CAM_BACK,930.0,496.7>, <c3,CAM_BACK_RIGHT,1264.2,674.2>, <c4,CAM_BACK,842.5,563.3>, and <c5,CAM_FRONT,969.2,448.3>."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_c799c98684284cf697543d1fb0d3b539_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985497612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985497604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985497620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985497637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985497647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985497627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,930.0,496.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_c799c98684284cf697543d1fb0d3b539_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985497612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985497604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985497620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985497637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985497647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985497627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,830.8,470.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_c799c98684284cf697543d1fb0d3b539_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985497612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985497604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985497620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985497637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985497647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985497627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,830.8,470.8>? 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": "c8e6213038884d05907b1edd7e55552e_c799c98684284cf697543d1fb0d3b539_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985497612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985497604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985497620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985497637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985497647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985497627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,830.8,470.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_c799c98684284cf697543d1fb0d3b539_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985497612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985497604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985497620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985497637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985497647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985497627893.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_c799c98684284cf697543d1fb0d3b539_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985497612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985497604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985497620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985497637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985497647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985497627893.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": "c8e6213038884d05907b1edd7e55552e_b6d49193c89b49928fd6f602f802a6fd_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985496112517.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985496104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985496120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985496137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985496147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985496127893.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, a blue sedan to the back of the ego vehicle, and a yellow bus to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,906.9,505.9>, <c2,CAM_FRONT,822.5,487.5>, <c3,CAM_FRONT,1478.6,709.8>, <c4,CAM_BACK,869.2,553.5>, and <c5,CAM_FRONT,945.0,465.8>."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_b6d49193c89b49928fd6f602f802a6fd_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985496112517.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985496104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985496120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985496137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985496147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985496127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,906.9,505.9>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_b6d49193c89b49928fd6f602f802a6fd_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985496112517.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985496104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985496120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985496137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985496147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985496127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,906.9,505.9> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_b6d49193c89b49928fd6f602f802a6fd_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985496112517.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985496104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985496120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985496137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985496147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985496127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,906.9,505.9>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_b6d49193c89b49928fd6f602f802a6fd_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985496112517.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985496104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985496120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985496137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985496147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985496127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,906.9,505.9>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "c8e6213038884d05907b1edd7e55552e_b6d49193c89b49928fd6f602f802a6fd_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985496112517.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985496104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985496120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985496137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985496147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985496127893.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": "c8e6213038884d05907b1edd7e55552e_b6d49193c89b49928fd6f602f802a6fd_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985496112517.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985496104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985496120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985496137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985496147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985496127893.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": "53484b9d012842bb98719a9d12b038ca_9113efb596f5469ca67e7fba8b99dffe_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488254512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488254504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488254520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488254537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488254547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488254528113.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 crossing the road to the front of the ego vehicle, a pedestrian crossing the road to the front of the ego vehicle, a pedestrian crossing the road to the front of the ego vehicle, a gray SUV to the back of the ego vehicle, a traffic sign to the front of the ego vehicle, and a yellow warning sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,202.5,670.0>, <c2,CAM_FRONT,1225.0,493.3>, <c3,CAM_FRONT,778.3,609.2>, <c4,CAM_BACK,525.8,599.2>, <c5,CAM_FRONT,1038.9,415.3>, and <c6,CAM_FRONT_RIGHT,493.7,476.6>."
            }
        ]
    },
    {
        "id": "53484b9d012842bb98719a9d12b038ca_9113efb596f5469ca67e7fba8b99dffe_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488254512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488254504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488254520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488254537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488254547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488254528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,202.5,670.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "53484b9d012842bb98719a9d12b038ca_9113efb596f5469ca67e7fba8b99dffe_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488254512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488254504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488254520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488254537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488254547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488254528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,202.5,670.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "53484b9d012842bb98719a9d12b038ca_9113efb596f5469ca67e7fba8b99dffe_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488254512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488254504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488254520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488254537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488254547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488254528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,202.5,670.0>? 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, and the probability is high."
            }
        ]
    },
    {
        "id": "53484b9d012842bb98719a9d12b038ca_9113efb596f5469ca67e7fba8b99dffe_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488254512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488254504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488254520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488254537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488254547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488254528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,202.5,670.0>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "53484b9d012842bb98719a9d12b038ca_9113efb596f5469ca67e7fba8b99dffe_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488254512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488254504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488254520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488254537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488254547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488254528113.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."
            }
        ]
    },
    {
        "id": "53484b9d012842bb98719a9d12b038ca_9113efb596f5469ca67e7fba8b99dffe_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488254512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488254504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488254520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488254537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488254547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488254528113.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": "53484b9d012842bb98719a9d12b038ca_d08050fc8623474cb4e66de7578e0cb0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488247162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488247154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488247170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488247187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488247197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488247178113.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 checkered shirt pedestrian to the front right of the ego vehicle, a pedestrian wearing a black top to the front of the ego vehicle, a blue shirt pedestrian to the front right of the ego vehicle, a white shirt pedestrian to the front left of the ego vehicle, a white skirt pedestrian to the front of the ego vehicle, and a gray SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,144.2,524.2>, <c2,CAM_FRONT,273.3,583.3>, <c3,CAM_FRONT_RIGHT,727.5,591.7>, <c4,CAM_FRONT_LEFT,696.7,560.8>, <c5,CAM_FRONT,1145.0,591.7>, and <c6,CAM_BACK,585.4,599.2>."
            }
        ]
    },
    {
        "id": "53484b9d012842bb98719a9d12b038ca_d08050fc8623474cb4e66de7578e0cb0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488247162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488247154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488247170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488247187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488247197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488247178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,144.2,524.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "53484b9d012842bb98719a9d12b038ca_d08050fc8623474cb4e66de7578e0cb0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488247162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488247154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488247170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488247187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488247197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488247178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,144.2,524.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "53484b9d012842bb98719a9d12b038ca_d08050fc8623474cb4e66de7578e0cb0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488247162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488247154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488247170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488247187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488247197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488247178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,144.2,524.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason is to follow the traffic rules, which is highly probable."
            }
        ]
    },
    {
        "id": "53484b9d012842bb98719a9d12b038ca_d08050fc8623474cb4e66de7578e0cb0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488247162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488247154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488247170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488247187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488247197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488247178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,144.2,524.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "53484b9d012842bb98719a9d12b038ca_d08050fc8623474cb4e66de7578e0cb0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488247162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488247154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488247170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488247187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488247197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488247178113.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, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "53484b9d012842bb98719a9d12b038ca_d08050fc8623474cb4e66de7578e0cb0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488247162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488247154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488247170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488247187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488247197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488247178113.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": "fdf27bbde3e345bd9ac83cbe9a3c813a_5b7a2867a0974ade8f136a7f8f110400_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193385362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193385354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193385370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193385387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193385397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193385377893.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 yellow bus to the front of the ego vehicle, and a black sedan car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1053.3,506.7>, <c2,CAM_FRONT,1006.7,478.3>, and <c3,CAM_BACK,493.3,590.8>."
            }
        ]
    },
    {
        "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_5b7a2867a0974ade8f136a7f8f110400_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193385362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193385354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193385370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193385387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193385397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193385377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1053.3,506.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_5b7a2867a0974ade8f136a7f8f110400_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193385362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193385354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193385370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193385387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193385397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193385377893.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 <c1,CAM_FRONT,1053.3,506.7>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,1006.7,478.3>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,493.3,590.8>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_5b7a2867a0974ade8f136a7f8f110400_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193385362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193385354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193385370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193385387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193385397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193385377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1053.3,506.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_5b7a2867a0974ade8f136a7f8f110400_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193385362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193385354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193385370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193385387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193385397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193385377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1053.3,506.7>? 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 is high probability."
            }
        ]
    },
    {
        "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_5b7a2867a0974ade8f136a7f8f110400_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193385362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193385354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193385370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193385387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193385397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193385377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1053.3,506.7>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_5b7a2867a0974ade8f136a7f8f110400_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193385362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193385354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193385370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193385387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193385397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193385377893.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."
            }
        ]
    },
    {
        "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_5b7a2867a0974ade8f136a7f8f110400_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193385362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193385354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193385370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193385387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193385397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193385377893.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": "f30849d00388491fa6997a13d56c73fd_344a77dc91594b6791801958c1c02adf_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193284612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193284604858.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193284620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193284637537.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193284647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193284627893.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 right of the ego vehicle, a blue shirt pedestrian to the front of the ego vehicle, and a white landmark to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,215.0,492.5>, <c2,CAM_FRONT,896.7,486.7>, and <c3,CAM_FRONT,908.8,606.3>."
            }
        ]
    },
    {
        "id": "f30849d00388491fa6997a13d56c73fd_344a77dc91594b6791801958c1c02adf_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193284612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193284604858.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193284620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193284637537.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193284647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193284627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,215.0,492.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f30849d00388491fa6997a13d56c73fd_344a77dc91594b6791801958c1c02adf_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193284612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193284604858.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193284620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193284637537.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193284647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193284627893.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 <c3,CAM_FRONT,908.8,606.3>. It is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c2,CAM_FRONT,896.7,486.7>. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_FRONT_RIGHT,215.0,492.5>. It is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "f30849d00388491fa6997a13d56c73fd_344a77dc91594b6791801958c1c02adf_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193284612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193284604858.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193284620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193284637537.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193284647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193284627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,215.0,492.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f30849d00388491fa6997a13d56c73fd_344a77dc91594b6791801958c1c02adf_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193284612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193284604858.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193284620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193284637537.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193284647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193284627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,215.0,492.5>? 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": "f30849d00388491fa6997a13d56c73fd_344a77dc91594b6791801958c1c02adf_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193284612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193284604858.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193284620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193284637537.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193284647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193284627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,215.0,492.5>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT_RIGHT,215.0,492.5>."
            }
        ]
    },
    {
        "id": "f30849d00388491fa6997a13d56c73fd_344a77dc91594b6791801958c1c02adf_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193284612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193284604858.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193284620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193284637537.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193284647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193284627893.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 left."
            }
        ]
    },
    {
        "id": "f30849d00388491fa6997a13d56c73fd_344a77dc91594b6791801958c1c02adf_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193284612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193284604858.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193284620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193284637537.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193284647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193284627893.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": "4ea72ee843914a6cbd755e39f2489156_cda6a4d1e0e94852a3fd3f79b013f8d4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279926862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279926854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279926870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279926887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279926897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279926877893.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 bus to the back of the ego vehicle, a green truck to the back of the ego vehicle, and a white truck to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,489.3,485.8>, <c2,CAM_BACK,913.3,518.3>, and <c3,CAM_FRONT_RIGHT,569.2,452.8>."
            }
        ]
    },
    {
        "id": "4ea72ee843914a6cbd755e39f2489156_cda6a4d1e0e94852a3fd3f79b013f8d4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279926862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279926854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279926870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279926887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279926897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279926877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,489.3,485.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4ea72ee843914a6cbd755e39f2489156_cda6a4d1e0e94852a3fd3f79b013f8d4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279926862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279926854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279926870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279926887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279926897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279926877893.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 <c3,CAM_FRONT_RIGHT,569.2,452.8>. The object is going ahead, so the ego vehicle should slightly offset to the left in maneuvering. Secondly, notice that <c1,CAM_BACK,489.3,485.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,913.3,518.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "4ea72ee843914a6cbd755e39f2489156_cda6a4d1e0e94852a3fd3f79b013f8d4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279926862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279926854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279926870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279926887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279926897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279926877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,489.3,485.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4ea72ee843914a6cbd755e39f2489156_cda6a4d1e0e94852a3fd3f79b013f8d4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279926862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279926854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279926870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279926887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279926897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279926877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,489.3,485.8>? 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": "4ea72ee843914a6cbd755e39f2489156_cda6a4d1e0e94852a3fd3f79b013f8d4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279926862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279926854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279926870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279926887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279926897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279926877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,913.3,518.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "4ea72ee843914a6cbd755e39f2489156_cda6a4d1e0e94852a3fd3f79b013f8d4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279926862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279926854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279926870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279926887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279926897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279926877893.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "4ea72ee843914a6cbd755e39f2489156_cda6a4d1e0e94852a3fd3f79b013f8d4_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279926862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279926854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279926870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279926887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279926897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279926877893.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": "4ea72ee843914a6cbd755e39f2489156_99d83255b6aa488eb44216ced99bbe27_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279927862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279927854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279927870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279927887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279927897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279927877893.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 minibus to the back of the ego vehicle, a green small goods to the back of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,765.0,500.8>, <c2,CAM_BACK,920.0,523.3>, and <c3,CAM_BACK,304.4,450.1>."
            }
        ]
    },
    {
        "id": "4ea72ee843914a6cbd755e39f2489156_99d83255b6aa488eb44216ced99bbe27_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279927862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279927854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279927870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279927887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279927897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279927877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,920.0,523.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4ea72ee843914a6cbd755e39f2489156_99d83255b6aa488eb44216ced99bbe27_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279927862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279927854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279927870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279927887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279927897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279927877893.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 <c3,CAM_BACK,304.4,450.1>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c1,CAM_BACK,765.0,500.8>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK,920.0,523.3>, the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "4ea72ee843914a6cbd755e39f2489156_99d83255b6aa488eb44216ced99bbe27_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279927862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279927854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279927870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279927887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279927897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279927877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,765.0,500.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4ea72ee843914a6cbd755e39f2489156_99d83255b6aa488eb44216ced99bbe27_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279927862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279927854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279927870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279927887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279927897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279927877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,765.0,500.8>? 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": "4ea72ee843914a6cbd755e39f2489156_99d83255b6aa488eb44216ced99bbe27_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279927862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279927854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279927870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279927887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279927897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279927877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,765.0,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "4ea72ee843914a6cbd755e39f2489156_99d83255b6aa488eb44216ced99bbe27_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279927862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279927854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279927870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279927887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279927897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279927877893.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, brake gently to a stop, or keep going at the same speed."
            }
        ]
    },
    {
        "id": "4ea72ee843914a6cbd755e39f2489156_99d83255b6aa488eb44216ced99bbe27_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279927862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279927854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279927870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279927887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279927897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279927877893.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": "5035adcd18d34d4783c2ccb41db998c1_d76ad6cba4294b418aca84015b896675_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033916162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033916154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033916170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033916187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033916197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033916177893.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 truck to the back of the ego vehicle, a white van to the front of the ego vehicle, and a gray sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,800.8,498.3>, <c2,CAM_FRONT,839.2,497.5>, and <c3,CAM_BACK,844.2,522.5>."
            }
        ]
    },
    {
        "id": "5035adcd18d34d4783c2ccb41db998c1_d76ad6cba4294b418aca84015b896675_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033916162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033916154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033916170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033916187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033916197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033916177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,800.8,498.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5035adcd18d34d4783c2ccb41db998c1_d76ad6cba4294b418aca84015b896675_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033916162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033916154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033916170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033916187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033916197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033916177893.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 <c2,CAM_FRONT,839.2,497.5>, the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_BACK,844.2,522.5>, the object is going ahead, so the ego vehicle should accelerate and go ahead. Thirdly notice that <c1,CAM_BACK,800.8,498.3>, the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "5035adcd18d34d4783c2ccb41db998c1_d76ad6cba4294b418aca84015b896675_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033916162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033916154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033916170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033916187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033916197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033916177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,800.8,498.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5035adcd18d34d4783c2ccb41db998c1_d76ad6cba4294b418aca84015b896675_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033916162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033916154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033916170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033916187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033916197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033916177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,800.8,498.3>? 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": "5035adcd18d34d4783c2ccb41db998c1_d76ad6cba4294b418aca84015b896675_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033916162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033916154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033916170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033916187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033916197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033916177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,800.8,498.3>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,800.8,498.3>."
            }
        ]
    },
    {
        "id": "5035adcd18d34d4783c2ccb41db998c1_d76ad6cba4294b418aca84015b896675_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033916162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033916154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033916170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033916187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033916197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033916177893.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": "5035adcd18d34d4783c2ccb41db998c1_d76ad6cba4294b418aca84015b896675_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033916162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033916154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033916170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033916187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033916197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033916177893.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": "5035adcd18d34d4783c2ccb41db998c1_de51db30165749aeb93fdbf1f1f7e79d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033919662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033919654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033919670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033919687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033919697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033919677893.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, pedestrians are allowed to pass to the front of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,844.2,475.8>, <c2,CAM_FRONT,654.2,530.8>, and <c3,CAM_BACK,855.8,522.5>."
            }
        ]
    },
    {
        "id": "5035adcd18d34d4783c2ccb41db998c1_de51db30165749aeb93fdbf1f1f7e79d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033919662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033919654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033919670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033919687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033919697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033919677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,844.2,475.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5035adcd18d34d4783c2ccb41db998c1_de51db30165749aeb93fdbf1f1f7e79d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033919662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033919654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033919670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033919687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033919697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033919677893.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 <c2,CAM_FRONT,654.2,530.8>. It is a traffic sign, so the ego vehicle should slow down and proceed. Secondly, notice <c1,CAM_FRONT,844.2,475.8>. It is going ahead, so the ego vehicle should continue at the same speed. Thirdly, notice <c3,CAM_BACK,855.8,522.5>. It is also going ahead, so the ego vehicle should maintain the same speed."
            }
        ]
    },
    {
        "id": "5035adcd18d34d4783c2ccb41db998c1_de51db30165749aeb93fdbf1f1f7e79d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033919662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033919654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033919670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033919687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033919697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033919677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,844.2,475.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5035adcd18d34d4783c2ccb41db998c1_de51db30165749aeb93fdbf1f1f7e79d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033919662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033919654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033919670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033919687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033919697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033919677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,844.2,475.8>? 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": "5035adcd18d34d4783c2ccb41db998c1_de51db30165749aeb93fdbf1f1f7e79d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033919662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033919654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033919670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033919687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033919697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033919677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,844.2,475.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "5035adcd18d34d4783c2ccb41db998c1_de51db30165749aeb93fdbf1f1f7e79d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033919662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033919654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033919670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033919687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033919697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033919677893.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": "5035adcd18d34d4783c2ccb41db998c1_de51db30165749aeb93fdbf1f1f7e79d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033919662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033919654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033919670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033919687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033919697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033919677893.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": "6ab3d1e9476d4cd89d4949d69d056901_2000ce82d2bd4f6c93ec5948736897a9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915283912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915283904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915283919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915283937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915283947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915283927813.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 car to the front left of the ego vehicle, a black commercial vehicle to the back of the ego vehicle, and a black SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,511.7,523.3>, <c2,CAM_BACK,658.3,419.2>, and <c3,CAM_FRONT_LEFT,228.3,515.8>."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_2000ce82d2bd4f6c93ec5948736897a9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915283912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915283904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915283919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915283937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915283947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915283927813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,658.3,419.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_2000ce82d2bd4f6c93ec5948736897a9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915283912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915283904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915283919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915283937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915283947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915283927813.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 <c1,CAM_FRONT_LEFT,511.7,523.3>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_LEFT,228.3,515.8>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,658.3,419.2>. The object is turning right, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_2000ce82d2bd4f6c93ec5948736897a9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915283912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915283904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915283919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915283937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915283947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915283927813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,511.7,523.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_2000ce82d2bd4f6c93ec5948736897a9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915283912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915283904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915283919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915283937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915283947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915283927813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,511.7,523.3>? 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": "6ab3d1e9476d4cd89d4949d69d056901_2000ce82d2bd4f6c93ec5948736897a9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915283912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915283904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915283919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915283937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915283947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915283927813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,511.7,523.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_2000ce82d2bd4f6c93ec5948736897a9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915283912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915283904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915283919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915283937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915283947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915283927813.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 brake gently to a stop."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_2000ce82d2bd4f6c93ec5948736897a9_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915283912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915283904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915283919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915283937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915283947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915283927813.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": "6ab3d1e9476d4cd89d4949d69d056901_c20ab874f4b44d2daa0baded05d82d32_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915291412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915291404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915291419958.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915291437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915291447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915291427813.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 brown business car to the back of the ego vehicle, a person wearing white top and black pants to the front of the ego vehicle, and a blue and white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,671.7,443.3>, <c2,CAM_FRONT,1572.5,520.8>, and <c3,CAM_FRONT,869.2,420.0>."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_c20ab874f4b44d2daa0baded05d82d32_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915291412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915291404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915291419958.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915291437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915291447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915291427813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,671.7,443.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_c20ab874f4b44d2daa0baded05d82d32_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915291412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915291404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915291419958.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915291437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915291447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915291427813.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 <c2,CAM_FRONT,1572.5,520.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,869.2,420.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,671.7,443.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_c20ab874f4b44d2daa0baded05d82d32_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915291412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915291404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915291419958.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915291437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915291447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915291427813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,671.7,443.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_c20ab874f4b44d2daa0baded05d82d32_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915291412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915291404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915291419958.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915291437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915291447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915291427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,671.7,443.3>? 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": "6ab3d1e9476d4cd89d4949d69d056901_c20ab874f4b44d2daa0baded05d82d32_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915291412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915291404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915291419958.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915291437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915291447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915291427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,671.7,443.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_c20ab874f4b44d2daa0baded05d82d32_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915291412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915291404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915291419958.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915291437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915291447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915291427813.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": "6ab3d1e9476d4cd89d4949d69d056901_c20ab874f4b44d2daa0baded05d82d32_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915291412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915291404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915291419958.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915291437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915291447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915291427813.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": "6ab3d1e9476d4cd89d4949d69d056901_618dbd44d763411196676cb5bead206b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915286412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915286404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915286419962.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915286437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915286447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915286427813.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 person wearing white clothes to the front of the ego vehicle, and a black truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,687.5,429.2>, <c2,CAM_FRONT,946.7,457.5>, and <c3,CAM_FRONT,822.5,427.5>."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_618dbd44d763411196676cb5bead206b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915286412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915286404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915286419962.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915286437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915286447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915286427813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,687.5,429.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_618dbd44d763411196676cb5bead206b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915286412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915286404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915286419962.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915286437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915286447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915286427813.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 <c3,CAM_FRONT,822.5,427.5>. It is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice <c2,CAM_FRONT,946.7,457.5>. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice <c1,CAM_BACK,687.5,429.2>. It is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_618dbd44d763411196676cb5bead206b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915286412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915286404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915286419962.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915286437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915286447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915286427813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,687.5,429.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_618dbd44d763411196676cb5bead206b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915286412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915286404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915286419962.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915286437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915286447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915286427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,687.5,429.2>? 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, high."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_618dbd44d763411196676cb5bead206b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915286412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915286404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915286419962.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915286437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915286447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915286427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,687.5,429.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_618dbd44d763411196676cb5bead206b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915286412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915286404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915286419962.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915286437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915286447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915286427813.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": "6ab3d1e9476d4cd89d4949d69d056901_618dbd44d763411196676cb5bead206b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915286412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915286404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915286419962.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915286437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915286447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915286427813.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": "6ab3d1e9476d4cd89d4949d69d056901_090e5ebfdc304e3cb5634db7c172b17a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915294412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915294404927.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915294419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915294437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915294447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915294427813.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 right of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,690.8,435.0>, <c2,CAM_FRONT_RIGHT,326.7,526.7>, and <c3,CAM_FRONT,910.8,441.7>."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_090e5ebfdc304e3cb5634db7c172b17a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915294412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915294404927.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915294419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915294437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915294447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915294427813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,690.8,435.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_090e5ebfdc304e3cb5634db7c172b17a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915294412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915294404927.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915294419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915294437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915294447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915294427813.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 <c3,CAM_FRONT,910.8,441.7>. The object is in a stationary state, so the ego vehicle should slightly offset to the left during maneuvering. Secondly, notice that <c2,CAM_FRONT_RIGHT,326.7,526.7>. The object is also in a stationary state, so the ego vehicle should continue going straight at the same speed. Thirdly, notice that <c1,CAM_BACK,690.8,435.0>. The object is moving ahead, so the ego vehicle should continue going straight at the same speed."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_090e5ebfdc304e3cb5634db7c172b17a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915294412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915294404927.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915294419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915294437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915294447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915294427813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,690.8,435.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_090e5ebfdc304e3cb5634db7c172b17a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915294412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915294404927.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915294419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915294437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915294447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915294427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,690.8,435.0>? 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": "6ab3d1e9476d4cd89d4949d69d056901_090e5ebfdc304e3cb5634db7c172b17a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915294412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915294404927.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915294419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915294437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915294447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915294427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,690.8,435.0>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "6ab3d1e9476d4cd89d4949d69d056901_090e5ebfdc304e3cb5634db7c172b17a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915294412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915294404927.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915294419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915294437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915294447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915294427813.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": "6ab3d1e9476d4cd89d4949d69d056901_090e5ebfdc304e3cb5634db7c172b17a_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915294412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915294404927.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915294419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915294437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915294447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915294427813.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": "2376fcdd28a44b83962289664cee55b7_bfb89878f3fc4a82848be318010a50cd_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799034012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799034004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799034020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799034037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799034047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799034027893.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 unable to see clearly to the back of the ego vehicle, a black car to the front of the ego vehicle, and a cannot see clearly to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,827.5,500.0>, <c2,CAM_FRONT,1071.7,524.2>, and <c3,CAM_BACK,860.8,502.5>."
            }
        ]
    },
    {
        "id": "2376fcdd28a44b83962289664cee55b7_bfb89878f3fc4a82848be318010a50cd_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799034012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799034004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799034020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799034037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799034047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799034027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,827.5,500.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2376fcdd28a44b83962289664cee55b7_bfb89878f3fc4a82848be318010a50cd_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799034012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799034004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799034020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799034037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799034047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799034027893.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 <c2,CAM_FRONT,1071.7,524.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_BACK,860.8,502.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,827.5,500.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "2376fcdd28a44b83962289664cee55b7_bfb89878f3fc4a82848be318010a50cd_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799034012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799034004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799034020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799034037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799034047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799034027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,827.5,500.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2376fcdd28a44b83962289664cee55b7_bfb89878f3fc4a82848be318010a50cd_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799034012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799034004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799034020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799034037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799034047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799034027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,827.5,500.0>? 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": "2376fcdd28a44b83962289664cee55b7_bfb89878f3fc4a82848be318010a50cd_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799034012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799034004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799034020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799034037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799034047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799034027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,827.5,500.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "2376fcdd28a44b83962289664cee55b7_bfb89878f3fc4a82848be318010a50cd_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799034012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799034004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799034020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799034037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799034047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799034027893.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 continue ahead."
            }
        ]
    },
    {
        "id": "2376fcdd28a44b83962289664cee55b7_bfb89878f3fc4a82848be318010a50cd_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799034012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799034004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799034020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799034037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799034047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799034027893.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": "11058d54abcd4829828523040372ce05_209a0c53fee1459db6254ae54918a423_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281892112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281892104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281892120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281892137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281892147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281892127893.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 black top to the back left of the ego vehicle, a black SUV to the back of the ego vehicle, and a green light to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,962.7,670.8>, <c2,CAM_BACK,210.8,526.7>, and <c3,CAM_FRONT_RIGHT,1404.2,357.0>."
            }
        ]
    },
    {
        "id": "11058d54abcd4829828523040372ce05_209a0c53fee1459db6254ae54918a423_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281892112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281892104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281892120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281892137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281892147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281892127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_LEFT,962.7,670.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "11058d54abcd4829828523040372ce05_209a0c53fee1459db6254ae54918a423_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281892112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281892104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281892120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281892137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281892147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281892127893.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 <c3,CAM_FRONT_RIGHT,1404.2,357.0>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_BACK_LEFT,962.7,670.8>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_BACK,210.8,526.7>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "11058d54abcd4829828523040372ce05_209a0c53fee1459db6254ae54918a423_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281892112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281892104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281892120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281892137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281892147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281892127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,962.7,670.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "11058d54abcd4829828523040372ce05_209a0c53fee1459db6254ae54918a423_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281892112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281892104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281892120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281892137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281892147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281892127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,962.7,670.8>? 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": "11058d54abcd4829828523040372ce05_209a0c53fee1459db6254ae54918a423_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281892112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281892104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281892120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281892137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281892147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281892127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,962.7,670.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "11058d54abcd4829828523040372ce05_209a0c53fee1459db6254ae54918a423_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281892112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281892104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281892120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281892137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281892147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281892127893.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "11058d54abcd4829828523040372ce05_209a0c53fee1459db6254ae54918a423_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281892112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281892104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281892120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281892137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281892147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281892127893.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": "1466f33b56704942a368fa03d10708dd_5ec5900c2edd4f44ad9255e99244cac4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573068362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573068354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573068370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573068387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573068397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573068378113.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 gray sedan to the front right of the ego vehicle, and a gray sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,852.5,505.8>, <c2,CAM_FRONT_RIGHT,134.9,471.2>, and <c3,CAM_FRONT,216.7,711.7>."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_5ec5900c2edd4f44ad9255e99244cac4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573068362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573068354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573068370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573068387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573068397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573068378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,852.5,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_5ec5900c2edd4f44ad9255e99244cac4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573068362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573068354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573068370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573068387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573068397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573068378113.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 <c3,CAM_FRONT,216.7,711.7>. The object is turning left, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_FRONT_RIGHT,134.9,471.2>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,852.5,505.8>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_5ec5900c2edd4f44ad9255e99244cac4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573068362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573068354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573068370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573068387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573068397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573068378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,852.5,505.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_5ec5900c2edd4f44ad9255e99244cac4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573068362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573068354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573068370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573068387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573068397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573068378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,852.5,505.8>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_5ec5900c2edd4f44ad9255e99244cac4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573068362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573068354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573068370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573068387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573068397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573068378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,852.5,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_5ec5900c2edd4f44ad9255e99244cac4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573068362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573068354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573068370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573068387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573068397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573068378113.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 same speed."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_5ec5900c2edd4f44ad9255e99244cac4_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573068362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573068354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573068370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573068387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573068397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573068378113.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": "1466f33b56704942a368fa03d10708dd_71070763461d432da2e7aedc8e968ec7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573067912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573067904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573067920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573067937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573067947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573067928113.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 right of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,852.5,505.8>, <c2,CAM_FRONT_RIGHT,63.3,503.3>, and <c3,CAM_FRONT,590.0,570.8>."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_71070763461d432da2e7aedc8e968ec7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573067912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573067904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573067920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573067937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573067947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573067928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,852.5,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_71070763461d432da2e7aedc8e968ec7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573067912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573067904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573067920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573067937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573067947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573067928113.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 <c3,CAM_FRONT,590.0,570.8>. The object is turning left, so the ego vehicle should slow down and continue ahead. Secondly, notice that <c2,CAM_FRONT_RIGHT,63.3,503.3>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,852.5,505.8>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_71070763461d432da2e7aedc8e968ec7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573067912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573067904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573067920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573067937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573067947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573067928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,852.5,505.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_71070763461d432da2e7aedc8e968ec7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573067912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573067904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573067920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573067937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573067947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573067928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,852.5,505.8>? 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": "1466f33b56704942a368fa03d10708dd_71070763461d432da2e7aedc8e968ec7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573067912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573067904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573067920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573067937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573067947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573067928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,852.5,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_71070763461d432da2e7aedc8e968ec7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573067912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573067904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573067920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573067937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573067947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573067928113.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": "1466f33b56704942a368fa03d10708dd_71070763461d432da2e7aedc8e968ec7_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573067912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573067904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573067920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573067937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573067947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573067928113.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": "1466f33b56704942a368fa03d10708dd_e413a12b3c124a9e943a80a35ff67b5c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573066862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573066854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573066870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573066887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573066897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573066878113.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 silver sedan to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a zebra crossing to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,874.2,505.0>, <c2,CAM_FRONT,1452.5,480.8>, <c3,CAM_FRONT,876.7,500.8>, and <c4,CAM_FRONT,861.0,688.8>."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_e413a12b3c124a9e943a80a35ff67b5c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573066862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573066854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573066870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573066887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573066897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573066878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,874.2,505.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_e413a12b3c124a9e943a80a35ff67b5c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573066862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573066854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573066870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573066887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573066897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573066878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,874.2,505.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_e413a12b3c124a9e943a80a35ff67b5c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573066862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573066854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573066870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573066887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573066897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573066878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,874.2,505.0>? 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": "1466f33b56704942a368fa03d10708dd_e413a12b3c124a9e943a80a35ff67b5c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573066862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573066854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573066870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573066887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573066897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573066878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,874.2,505.0>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "1466f33b56704942a368fa03d10708dd_e413a12b3c124a9e943a80a35ff67b5c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573066862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573066854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573066870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573066887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573066897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573066878113.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": "1466f33b56704942a368fa03d10708dd_e413a12b3c124a9e943a80a35ff67b5c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573066862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573066854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573066870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573066887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573066897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573066878113.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": "1c76efe7d0b048bc815c0445eeaa76ab_9a8cb194cb624978be61a06d5727c186_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490003662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490003654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490003670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490003687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490003697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490003678113.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 back of the ego vehicle, a black SUV to the back of the ego vehicle, a black sedan to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,875.0,523.3>, <c2,CAM_BACK,587.5,505.0>, <c3,CAM_FRONT,45.0,636.7>, and <c4,CAM_FRONT,1078.3,111.5>."
            }
        ]
    },
    {
        "id": "1c76efe7d0b048bc815c0445eeaa76ab_9a8cb194cb624978be61a06d5727c186_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490003662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490003654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490003670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490003687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490003697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490003678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,875.0,523.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1c76efe7d0b048bc815c0445eeaa76ab_9a8cb194cb624978be61a06d5727c186_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490003662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490003654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490003670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490003687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490003697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490003678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,875.0,523.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1c76efe7d0b048bc815c0445eeaa76ab_9a8cb194cb624978be61a06d5727c186_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490003662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490003654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490003670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490003687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490003697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490003678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,875.0,523.3>? 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": "1c76efe7d0b048bc815c0445eeaa76ab_9a8cb194cb624978be61a06d5727c186_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490003662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490003654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490003670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490003687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490003697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490003678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,875.0,523.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "1c76efe7d0b048bc815c0445eeaa76ab_9a8cb194cb624978be61a06d5727c186_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490003662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490003654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490003670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490003687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490003697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490003678113.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": "1c76efe7d0b048bc815c0445eeaa76ab_9a8cb194cb624978be61a06d5727c186_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490003662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490003654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490003670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490003687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490003697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490003678113.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": "1c76efe7d0b048bc815c0445eeaa76ab_8ae837b713ca4c17b150a15e6fcdaa49_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.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 white SUV to the back of the ego vehicle, a pedestrian to the front of the ego vehicle, a silver sedan to the back right of the ego vehicle, and a silver SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,776.7,515.0>, <c2,CAM_BACK,760.0,532.5>, <c3,CAM_FRONT,834.2,558.3>, <c4,CAM_BACK_RIGHT,485.8,693.3>, and <c5,CAM_FRONT_RIGHT,250.1,626.7>."
            }
        ]
    },
    {
        "id": "1c76efe7d0b048bc815c0445eeaa76ab_8ae837b713ca4c17b150a15e6fcdaa49_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,760.0,532.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1c76efe7d0b048bc815c0445eeaa76ab_8ae837b713ca4c17b150a15e6fcdaa49_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,776.7,515.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1c76efe7d0b048bc815c0445eeaa76ab_8ae837b713ca4c17b150a15e6fcdaa49_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,776.7,515.0>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to slightly offset to the left in maneuvering. The reason is to avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "1c76efe7d0b048bc815c0445eeaa76ab_8ae837b713ca4c17b150a15e6fcdaa49_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,776.7,515.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "1c76efe7d0b048bc815c0445eeaa76ab_8ae837b713ca4c17b150a15e6fcdaa49_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.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": "1c76efe7d0b048bc815c0445eeaa76ab_8ae837b713ca4c17b150a15e6fcdaa49_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.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": "e333874a12d64a7d956f23fe6a4c5c62_d24e7d2ab3cf49ee90baaf19fe75bbf7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478906512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478906504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478906520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478906537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478906547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478906528113.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 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 sports car to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,145.7,523.0>, <c2,CAM_BACK,849.0,511.0>, <c3,CAM_FRONT,562.5,495.8>, and <c4,CAM_BACK_LEFT,892.5,390.9>."
            }
        ]
    },
    {
        "id": "e333874a12d64a7d956f23fe6a4c5c62_d24e7d2ab3cf49ee90baaf19fe75bbf7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478906512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478906504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478906520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478906537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478906547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478906528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,849.0,511.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e333874a12d64a7d956f23fe6a4c5c62_d24e7d2ab3cf49ee90baaf19fe75bbf7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478906512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478906504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478906520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478906537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478906547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478906528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,145.7,523.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e333874a12d64a7d956f23fe6a4c5c62_d24e7d2ab3cf49ee90baaf19fe75bbf7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478906512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478906504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478906520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478906537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478906547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478906528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,145.7,523.0>? 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": "e333874a12d64a7d956f23fe6a4c5c62_d24e7d2ab3cf49ee90baaf19fe75bbf7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478906512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478906504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478906520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478906537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478906547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478906528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT,562.5,495.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "e333874a12d64a7d956f23fe6a4c5c62_d24e7d2ab3cf49ee90baaf19fe75bbf7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478906512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478906504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478906520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478906537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478906547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478906528113.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": "e333874a12d64a7d956f23fe6a4c5c62_d24e7d2ab3cf49ee90baaf19fe75bbf7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478906512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478906504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478906520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478906537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478906547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478906528113.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": "e333874a12d64a7d956f23fe6a4c5c62_f53614f5f8d84d298aad1298cfedfe64_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478905362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478905354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478905370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478905387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478905397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478905378113.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 blue sedan to the back of the ego vehicle, a black car to the front of the ego vehicle, and a blue construction truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,385.8,516.7>, <c2,CAM_BACK,842.5,506.7>, <c3,CAM_FRONT,620.0,500.0>, and <c4,CAM_FRONT_LEFT,826.7,345.0>."
            }
        ]
    },
    {
        "id": "e333874a12d64a7d956f23fe6a4c5c62_f53614f5f8d84d298aad1298cfedfe64_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478905362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478905354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478905370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478905387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478905397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478905378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,842.5,506.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e333874a12d64a7d956f23fe6a4c5c62_f53614f5f8d84d298aad1298cfedfe64_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478905362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478905354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478905370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478905387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478905397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478905378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,385.8,516.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e333874a12d64a7d956f23fe6a4c5c62_f53614f5f8d84d298aad1298cfedfe64_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478905362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478905354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478905370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478905387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478905397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478905378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,385.8,516.7>? 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": "e333874a12d64a7d956f23fe6a4c5c62_f53614f5f8d84d298aad1298cfedfe64_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478905362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478905354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478905370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478905387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478905397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478905378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,385.8,516.7>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "e333874a12d64a7d956f23fe6a4c5c62_f53614f5f8d84d298aad1298cfedfe64_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478905362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478905354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478905370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478905387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478905397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478905378113.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": "e333874a12d64a7d956f23fe6a4c5c62_f53614f5f8d84d298aad1298cfedfe64_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478905362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478905354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478905370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478905387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478905397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478905378113.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": "e333874a12d64a7d956f23fe6a4c5c62_e1935cdecbd2450da9d92022c8b5a1ad_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478903762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478903754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478903770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478903787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478903797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478903778113.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 black business car to the back of the ego vehicle, a white truck to the back of the ego vehicle, and a blue construction vehicle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,530.8,488.3>, <c2,CAM_BACK,773.3,532.5>, <c3,CAM_BACK,1146.7,479.2>, and <c4,CAM_FRONT,51.7,326.7>."
            }
        ]
    },
    {
        "id": "e333874a12d64a7d956f23fe6a4c5c62_e1935cdecbd2450da9d92022c8b5a1ad_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478903762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478903754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478903770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478903787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478903797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478903778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,773.3,532.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "e333874a12d64a7d956f23fe6a4c5c62_e1935cdecbd2450da9d92022c8b5a1ad_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478903762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478903754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478903770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478903787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478903797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478903778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,530.8,488.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e333874a12d64a7d956f23fe6a4c5c62_e1935cdecbd2450da9d92022c8b5a1ad_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478903762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478903754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478903770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478903787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478903797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478903778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,530.8,488.3>? 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": "e333874a12d64a7d956f23fe6a4c5c62_e1935cdecbd2450da9d92022c8b5a1ad_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478903762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478903754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478903770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478903787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478903797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478903778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,530.8,488.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "e333874a12d64a7d956f23fe6a4c5c62_e1935cdecbd2450da9d92022c8b5a1ad_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478903762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478903754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478903770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478903787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478903797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478903778113.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": "e333874a12d64a7d956f23fe6a4c5c62_e1935cdecbd2450da9d92022c8b5a1ad_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478903762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478903754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478903770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478903787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478903797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478903778113.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": "c74a3a7265ae45f99f65628fbd7cd2a4_b75f3177b749411492f60c68d9507e0d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086920580.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086927893.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 back of the ego vehicle, a white SUV to the back of the ego vehicle, and a yellow bicycle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1080.8,490.8>, <c2,CAM_BACK,845.0,491.7>, and <c3,CAM_FRONT,640.8,556.7>."
            }
        ]
    },
    {
        "id": "c74a3a7265ae45f99f65628fbd7cd2a4_b75f3177b749411492f60c68d9507e0d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086920580.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1080.8,490.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c74a3a7265ae45f99f65628fbd7cd2a4_b75f3177b749411492f60c68d9507e0d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086920580.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086927893.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 <c3,CAM_FRONT,640.8,556.7>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_BACK,845.0,491.7>. The object is turning left, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,1080.8,490.8>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "c74a3a7265ae45f99f65628fbd7cd2a4_b75f3177b749411492f60c68d9507e0d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086920580.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1080.8,490.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c74a3a7265ae45f99f65628fbd7cd2a4_b75f3177b749411492f60c68d9507e0d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086920580.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1080.8,490.8>? 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": "c74a3a7265ae45f99f65628fbd7cd2a4_b75f3177b749411492f60c68d9507e0d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086920580.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1080.8,490.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "c74a3a7265ae45f99f65628fbd7cd2a4_b75f3177b749411492f60c68d9507e0d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086920580.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086927893.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": "c74a3a7265ae45f99f65628fbd7cd2a4_b75f3177b749411492f60c68d9507e0d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086920580.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086927893.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": "d987908d74794138b07d1237887bb441_1868cdfe8de44b7ea023b37af0bab758_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731234262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731234254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731234270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731234287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731234297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731234278113.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 truck to the front of the ego vehicle, a white motorhome to the front right of the ego vehicle, a pedestrian crossing the road to the front of the ego vehicle, and a gray sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,635.0,531.7>, <c2,CAM_FRONT,865.0,468.3>, <c3,CAM_FRONT_RIGHT,384.0,448.0>, <c4,CAM_FRONT,890.0,505.8>, and <c5,CAM_BACK,891.7,543.3>."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_1868cdfe8de44b7ea023b37af0bab758_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731234262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731234254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731234270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731234287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731234297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731234278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,635.0,531.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_1868cdfe8de44b7ea023b37af0bab758_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731234262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731234254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731234270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731234287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731234297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731234278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,635.0,531.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_1868cdfe8de44b7ea023b37af0bab758_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731234262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731234254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731234270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731234287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731234297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731234278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,635.0,531.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to brake gently to a stop. The reason is there is no safety issue, high probability."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_1868cdfe8de44b7ea023b37af0bab758_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731234262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731234254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731234270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731234287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731234297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731234278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,635.0,531.7>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_1868cdfe8de44b7ea023b37af0bab758_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731234262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731234254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731234270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731234287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731234297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731234278113.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": "d987908d74794138b07d1237887bb441_1868cdfe8de44b7ea023b37af0bab758_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731234262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731234254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731234270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731234287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731234297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731234278113.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": "d987908d74794138b07d1237887bb441_8272ca3165914c06b22711b1aee4b43d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731226012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731226004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731226020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731226037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731226047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731226028113.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 back right of the ego vehicle, a person riding a bicycle to the front of the ego vehicle, and a black SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,292.3,311.2>, <c2,CAM_FRONT,550.8,490.0>, and <c3,CAM_BACK,908.3,511.7>."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_8272ca3165914c06b22711b1aee4b43d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731226012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731226004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731226020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731226037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731226047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731226028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,550.8,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_8272ca3165914c06b22711b1aee4b43d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731226012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731226004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731226020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731226037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731226047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731226028113.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 <c2,CAM_FRONT,550.8,490.0>. It is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c1,CAM_BACK_RIGHT,292.3,311.2>. It is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c3,CAM_BACK,908.3,511.7>. It is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_8272ca3165914c06b22711b1aee4b43d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731226012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731226004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731226020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731226037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731226047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731226028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,292.3,311.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_8272ca3165914c06b22711b1aee4b43d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731226012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731226004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731226020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731226037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731226047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731226028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,292.3,311.2>? 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": "d987908d74794138b07d1237887bb441_8272ca3165914c06b22711b1aee4b43d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731226012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731226004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731226020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731226037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731226047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731226028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,292.3,311.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_8272ca3165914c06b22711b1aee4b43d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731226012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731226004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731226020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731226037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731226047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731226028113.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": "d987908d74794138b07d1237887bb441_8272ca3165914c06b22711b1aee4b43d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731226012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731226004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731226020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731226037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731226047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731226028113.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": "d987908d74794138b07d1237887bb441_a40e0763f0c14d91ad52a858a2d1e18a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731222612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731222604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731222620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731222637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731222647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731222628113.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 back right of the ego vehicle, a black and white truck to the front of the ego vehicle, and a black car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,691.7,470.8>, <c2,CAM_FRONT,408.3,583.3>, and <c3,CAM_BACK,865.0,437.5>."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_a40e0763f0c14d91ad52a858a2d1e18a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731222612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731222604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731222620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731222637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731222647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731222628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,408.3,583.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_a40e0763f0c14d91ad52a858a2d1e18a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731222612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731222604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731222620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731222637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731222647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731222628113.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 <c2,CAM_FRONT,408.3,583.3>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c1,CAM_BACK_RIGHT,691.7,470.8>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,865.0,437.5>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_a40e0763f0c14d91ad52a858a2d1e18a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731222612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731222604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731222620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731222637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731222647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731222628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,691.7,470.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_a40e0763f0c14d91ad52a858a2d1e18a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731222612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731222604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731222620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731222637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731222647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731222628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,691.7,470.8>? 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": "d987908d74794138b07d1237887bb441_a40e0763f0c14d91ad52a858a2d1e18a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731222612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731222604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731222620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731222637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731222647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731222628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,408.3,583.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_a40e0763f0c14d91ad52a858a2d1e18a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731222612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731222604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731222620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731222637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731222647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731222628113.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, slightly offset to the right, or change to the right lane."
            }
        ]
    },
    {
        "id": "d987908d74794138b07d1237887bb441_a40e0763f0c14d91ad52a858a2d1e18a_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731222612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731222604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731222620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731222637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731222647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731222628113.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": "4bf8fb20e4744bd391beb07b2424b30a_ce455620e7914095860dd3400b841ea1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299095912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299095904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299095920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299095937571.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299095947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299095928113.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 motorhome to the back of the ego vehicle, a white sedan car to the back of the ego vehicle, a gray sedan to the front right of the ego vehicle, a gray SUV to the front left of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,968.3,461.7>, <c2,CAM_BACK,308.1,679.2>, <c3,CAM_FRONT_RIGHT,260.0,484.2>, <c4,CAM_FRONT_LEFT,649.2,682.2>, and <c5,CAM_FRONT,1069.2,441.9>."
            }
        ]
    },
    {
        "id": "4bf8fb20e4744bd391beb07b2424b30a_ce455620e7914095860dd3400b841ea1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299095912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299095904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299095920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299095937571.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299095947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299095928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,968.3,461.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4bf8fb20e4744bd391beb07b2424b30a_ce455620e7914095860dd3400b841ea1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299095912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299095904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299095920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299095937571.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299095947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299095928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,968.3,461.7>? 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": "4bf8fb20e4744bd391beb07b2424b30a_ce455620e7914095860dd3400b841ea1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299095912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299095904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299095920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299095937571.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299095947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299095928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,968.3,461.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "4bf8fb20e4744bd391beb07b2424b30a_ce455620e7914095860dd3400b841ea1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299095912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299095904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299095920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299095937571.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299095947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299095928113.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 gently to a stop, and slightly offset to the right."
            }
        ]
    },
    {
        "id": "4bf8fb20e4744bd391beb07b2424b30a_ce455620e7914095860dd3400b841ea1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299095912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299095904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299095920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299095937571.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299095947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299095928113.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": "fd5a3c6d3ad44954a8045edbe9d93763_3bd38b7c268f40629b6d4aef1a6c7b8d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.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 black commercial vehicle to the back of the ego vehicle, and a black sedan to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,870.0,455.0>, <c2,CAM_BACK,879.2,439.2>, and <c3,CAM_BACK_LEFT,1153.3,588.3>."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_3bd38b7c268f40629b6d4aef1a6c7b8d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,879.2,439.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_3bd38b7c268f40629b6d4aef1a6c7b8d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.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 <c1,CAM_FRONT,870.0,455.0>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c3,CAM_BACK_LEFT,1153.3,588.3>. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_BACK,879.2,439.2>. It is turning right, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_3bd38b7c268f40629b6d4aef1a6c7b8d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,870.0,455.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_3bd38b7c268f40629b6d4aef1a6c7b8d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,870.0,455.0>? 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": "fd5a3c6d3ad44954a8045edbe9d93763_3bd38b7c268f40629b6d4aef1a6c7b8d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,870.0,455.0>?"
            },
            {
                "from": "gpt",
                "value": "None."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_3bd38b7c268f40629b6d4aef1a6c7b8d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.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 ahead."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_3bd38b7c268f40629b6d4aef1a6c7b8d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.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": "fd5a3c6d3ad44954a8045edbe9d93763_9b8cb11e23524dcea151d5e31ceb7241_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.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 back left of the ego vehicle, and a silver sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1141.9,482.6>, <c2,CAM_BACK_LEFT,423.3,583.3>, and <c3,CAM_FRONT_LEFT,204.5,493.0>."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_9b8cb11e23524dcea151d5e31ceb7241_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1141.9,482.6>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_9b8cb11e23524dcea151d5e31ceb7241_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.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 <c3,CAM_FRONT_LEFT,204.5,493.0>. It is stationary, so the ego vehicle should slow down and proceed. Secondly, notice <c2,CAM_BACK_LEFT,423.3,583.3>. It is stationary, so the ego vehicle should continue at the same speed. Thirdly, notice <c1,CAM_BACK,1141.9,482.6>. It is turning left, so the ego vehicle should slow down and proceed."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_9b8cb11e23524dcea151d5e31ceb7241_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1141.9,482.6> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_9b8cb11e23524dcea151d5e31ceb7241_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1141.9,482.6>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_9b8cb11e23524dcea151d5e31ceb7241_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1141.9,482.6>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_9b8cb11e23524dcea151d5e31ceb7241_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.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": "fd5a3c6d3ad44954a8045edbe9d93763_9b8cb11e23524dcea151d5e31ceb7241_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.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": "fd5a3c6d3ad44954a8045edbe9d93763_1e3d806f12b1473b8367bb78016e28af_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915709862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915709854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915709869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915709887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915709897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915709877813.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 left of the ego vehicle, a white motorcycle to the front of the ego vehicle, and a silver sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,1351.7,585.8>, <c2,CAM_FRONT,132.5,495.0>, and <c3,CAM_BACK_RIGHT,683.3,430.8>."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_1e3d806f12b1473b8367bb78016e28af_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915709862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915709854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915709869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915709887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915709897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915709877813.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 <c2,CAM_FRONT,132.5,495.0>. It is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c1,CAM_BACK_LEFT,1351.7,585.8>. It is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c3,CAM_BACK_RIGHT,683.3,430.8>. It is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_1e3d806f12b1473b8367bb78016e28af_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915709862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915709854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915709869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915709887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915709897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915709877813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,1351.7,585.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_1e3d806f12b1473b8367bb78016e28af_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915709862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915709854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915709869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915709887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915709897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915709877813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,1351.7,585.8>? 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": "fd5a3c6d3ad44954a8045edbe9d93763_1e3d806f12b1473b8367bb78016e28af_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915709862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915709854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915709869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915709887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915709897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915709877813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,1351.7,585.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "fd5a3c6d3ad44954a8045edbe9d93763_1e3d806f12b1473b8367bb78016e28af_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915709862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915709854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915709869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915709887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915709897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915709877813.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": "fd5a3c6d3ad44954a8045edbe9d93763_1e3d806f12b1473b8367bb78016e28af_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915709862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915709854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915709869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915709887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915709897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915709877813.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": "30ae9c1092f6404a9e6aa0589e809780_5febf213de074246b3f2ad33b3a98df7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573584512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573584504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573584520486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573584537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573584547673.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573584528113.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 left of the ego vehicle, a black car to the back of the ego vehicle, and a black woman with short sleeves to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,314.2,545.0>, <c2,CAM_BACK,530.0,557.5>, and <c3,CAM_FRONT_RIGHT,838.3,654.2>."
            }
        ]
    },
    {
        "id": "30ae9c1092f6404a9e6aa0589e809780_5febf213de074246b3f2ad33b3a98df7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573584512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573584504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573584520486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573584537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573584547673.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573584528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,314.2,545.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "30ae9c1092f6404a9e6aa0589e809780_5febf213de074246b3f2ad33b3a98df7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573584512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573584504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573584520486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573584537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573584547673.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573584528113.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 <c3,CAM_FRONT_RIGHT,838.3,654.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_LEFT,314.2,545.0>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,530.0,557.5>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "30ae9c1092f6404a9e6aa0589e809780_5febf213de074246b3f2ad33b3a98df7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573584512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573584504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573584520486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573584537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573584547673.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573584528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,314.2,545.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "30ae9c1092f6404a9e6aa0589e809780_5febf213de074246b3f2ad33b3a98df7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573584512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573584504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573584520486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573584537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573584547673.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573584528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,314.2,545.0>? 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": "30ae9c1092f6404a9e6aa0589e809780_5febf213de074246b3f2ad33b3a98df7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573584512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573584504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573584520486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573584537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573584547673.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573584528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,314.2,545.0>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "30ae9c1092f6404a9e6aa0589e809780_5febf213de074246b3f2ad33b3a98df7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573584512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573584504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573584520486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573584537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573584547673.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573584528113.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."
            }
        ]
    },
    {
        "id": "30ae9c1092f6404a9e6aa0589e809780_5febf213de074246b3f2ad33b3a98df7_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573584512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573584504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573584520486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573584537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573584547673.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573584528113.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": "f92422ed4b4e427194a4958ccf15709a_8bf2cdfb81334ca0a7fa6423e401005c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573943512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573943504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573943520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573943537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573943547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573943528113.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 black car to the back of the ego vehicle, a blue sedan to the front right of the ego vehicle, a black sedan to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,868.3,523.3>, <c2,CAM_BACK,691.2,536.7>, <c3,CAM_FRONT_RIGHT,558.3,647.5>, <c4,CAM_FRONT,1259.6,558.3>, and <c5,CAM_FRONT,887.5,520.8>."
            }
        ]
    },
    {
        "id": "f92422ed4b4e427194a4958ccf15709a_8bf2cdfb81334ca0a7fa6423e401005c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573943512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573943504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573943520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573943537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573943547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573943528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,868.3,523.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f92422ed4b4e427194a4958ccf15709a_8bf2cdfb81334ca0a7fa6423e401005c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573943512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573943504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573943520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573943537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573943547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573943528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,868.3,523.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f92422ed4b4e427194a4958ccf15709a_8bf2cdfb81334ca0a7fa6423e401005c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573943512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573943504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573943520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573943537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573943547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573943528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,868.3,523.3>? 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": "f92422ed4b4e427194a4958ccf15709a_8bf2cdfb81334ca0a7fa6423e401005c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573943512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573943504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573943520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573943537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573943547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573943528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,868.3,523.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "f92422ed4b4e427194a4958ccf15709a_8bf2cdfb81334ca0a7fa6423e401005c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573943512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573943504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573943520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573943537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573943547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573943528113.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 brake suddenly."
            }
        ]
    },
    {
        "id": "f92422ed4b4e427194a4958ccf15709a_8bf2cdfb81334ca0a7fa6423e401005c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573943512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573943504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573943520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573943537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573943547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573943528113.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": "f92422ed4b4e427194a4958ccf15709a_06ac271d98924cbda25b9189f4694b61_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573942512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573942504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573942520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573942537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573942547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573942528113.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 sedan to the back of the ego vehicle, a blue sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, and a white van to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,891.7,522.5>, <c2,CAM_BACK,546.7,585.8>, <c3,CAM_FRONT,1479.2,584.2>, <c4,CAM_FRONT,857.5,516.7>, and <c5,CAM_FRONT,285.6,501.4>."
            }
        ]
    },
    {
        "id": "f92422ed4b4e427194a4958ccf15709a_06ac271d98924cbda25b9189f4694b61_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573942512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573942504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573942520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573942537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573942547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573942528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,891.7,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f92422ed4b4e427194a4958ccf15709a_06ac271d98924cbda25b9189f4694b61_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573942512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573942504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573942520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573942537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573942547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573942528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,891.7,522.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f92422ed4b4e427194a4958ccf15709a_06ac271d98924cbda25b9189f4694b61_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573942512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573942504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573942520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573942537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573942547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573942528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,891.7,522.5>? 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, with a low probability."
            }
        ]
    },
    {
        "id": "f92422ed4b4e427194a4958ccf15709a_06ac271d98924cbda25b9189f4694b61_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573942512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573942504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573942520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573942537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573942547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573942528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,891.7,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "f92422ed4b4e427194a4958ccf15709a_06ac271d98924cbda25b9189f4694b61_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573942512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573942504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573942520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573942537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573942547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573942528113.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 same speed."
            }
        ]
    },
    {
        "id": "f92422ed4b4e427194a4958ccf15709a_06ac271d98924cbda25b9189f4694b61_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573942512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573942504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573942520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573942537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573942547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573942528113.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": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_947c1b70cff6486b87903d9665064ad8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708677912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708677904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708677920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708677937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708677947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708677928113.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 of the ego vehicle, a white sedan to the front of the ego vehicle, a yellow truck to the back left of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,354.2,617.5>, <c2,CAM_FRONT,716.7,547.5>, <c3,CAM_BACK_LEFT,363.1,450.8>, and <c4,CAM_BACK,838.3,464.2>."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_947c1b70cff6486b87903d9665064ad8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708677912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708677904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708677920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708677937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708677947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708677928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,354.2,617.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_947c1b70cff6486b87903d9665064ad8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708677912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708677904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708677920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708677937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708677947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708677928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,354.2,617.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_947c1b70cff6486b87903d9665064ad8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708677912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708677904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708677920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708677937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708677947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708677928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,354.2,617.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason is to follow the traffic rules, which has a high probability."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_947c1b70cff6486b87903d9665064ad8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708677912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708677904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708677920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708677937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708677947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708677928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,354.2,617.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_947c1b70cff6486b87903d9665064ad8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708677912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708677904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708677920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708677937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708677947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708677928113.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": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_947c1b70cff6486b87903d9665064ad8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708677912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708677904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708677920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708677937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708677947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708677928113.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": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_b6bf5a2bcb094969ace1023f8fe0b9e2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708675412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708675404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708675420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708675437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708675447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708675428113.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 man wearing black pants to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, a white truck to the back of the ego vehicle, and a man wearing blue jeans to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,915.0,597.5>, <c2,CAM_BACK,1366.0,705.3>, <c3,CAM_BACK,838.3,464.2>, and <c4,CAM_FRONT,695.8,628.3>."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_b6bf5a2bcb094969ace1023f8fe0b9e2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708675412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708675404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708675420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708675437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708675447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708675428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,915.0,597.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_b6bf5a2bcb094969ace1023f8fe0b9e2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708675412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708675404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708675420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708675437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708675447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708675428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,915.0,597.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_b6bf5a2bcb094969ace1023f8fe0b9e2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708675412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708675404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708675420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708675437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708675447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708675428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,915.0,597.5>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_b6bf5a2bcb094969ace1023f8fe0b9e2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708675412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708675404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708675420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708675437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708675447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708675428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,915.0,597.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_b6bf5a2bcb094969ace1023f8fe0b9e2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708675412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708675404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708675420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708675437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708675447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708675428113.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 suddenly, brake gently to a stop."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_b6bf5a2bcb094969ace1023f8fe0b9e2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708675412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708675404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708675420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708675437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708675447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708675428113.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": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_a59f97b9ba4b451e92487285f27ffb52_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708680862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708680854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708680870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708680887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708680897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708680878113.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 front of the ego vehicle, a black car to the back left of the ego vehicle, and a black car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,715.0,547.5>, <c2,CAM_BACK_LEFT,480.6,738.6>, and <c3,CAM_BACK,385.0,478.3>."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_a59f97b9ba4b451e92487285f27ffb52_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708680862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708680854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708680870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708680887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708680897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708680878113.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 <c1,CAM_FRONT,715.0,547.5>. It is stationary, so the ego vehicle should also remain stationary. Secondly, notice <c2,CAM_BACK_LEFT,480.6,738.6>. It is stationary, so the ego vehicle should remain stationary Thirdly, notice <c3,CAM_BACK,385.0,478.3>. It is stationary, so the ego vehicle should remain stationary"
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_a59f97b9ba4b451e92487285f27ffb52_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708680862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708680854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708680870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708680887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708680897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708680878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,715.0,547.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_a59f97b9ba4b451e92487285f27ffb52_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708680862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708680854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708680870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708680887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708680897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708680878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,715.0,547.5>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_a59f97b9ba4b451e92487285f27ffb52_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708680862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708680854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708680870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708680887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708680897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708680878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,715.0,547.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_a59f97b9ba4b451e92487285f27ffb52_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708680862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708680854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708680870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708680887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708680897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708680878113.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 brake suddenly."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_a59f97b9ba4b451e92487285f27ffb52_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708680862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708680854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708680870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708680887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708680897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708680878113.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": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_0a208b6bd70a45c9b77b4acff048b2e4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708672412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708672404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708672420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708672437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708672447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708672428113.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 of the ego vehicle, a black sedan to the back of the ego vehicle, a silver sedan to the front left of the ego vehicle, and a person wearing a hat to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1030.0,587.5>, <c2,CAM_BACK,1170.0,639.2>, <c3,CAM_FRONT_LEFT,877.1,694.1>, and <c4,CAM_FRONT,819.2,617.5>."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_0a208b6bd70a45c9b77b4acff048b2e4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708672412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708672404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708672420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708672437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708672447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708672428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,1170.0,639.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_0a208b6bd70a45c9b77b4acff048b2e4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708672412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708672404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708672420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708672437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708672447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708672428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1030.0,587.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_0a208b6bd70a45c9b77b4acff048b2e4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708672412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708672404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708672420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708672437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708672447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708672428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1030.0,587.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary, the reason is to maintain a safe distance, which is high."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_0a208b6bd70a45c9b77b4acff048b2e4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708672412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708672404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708672420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708672437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708672447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708672428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1030.0,587.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_0a208b6bd70a45c9b77b4acff048b2e4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708672412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708672404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708672420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708672437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708672447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708672428113.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 brake gently to a stop."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_0a208b6bd70a45c9b77b4acff048b2e4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708672412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708672404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708672420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708672437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708672447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708672428113.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": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_fc4a9c4a635348468d38b9e4452b3b0f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708676412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708676404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708676420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708676437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708676447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708676428113.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 white top and black trousers to the front of the ego vehicle, a black sedan to the back left of the ego vehicle, a white truck to the back of the ego vehicle, and a pedestrian wearing black top and black pants to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,740.8,604.2>, <c2,CAM_BACK_LEFT,484.6,747.1>, <c3,CAM_BACK,838.3,464.2>, and <c4,CAM_FRONT,384.2,615.8>."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_fc4a9c4a635348468d38b9e4452b3b0f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708676412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708676404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708676420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708676437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708676447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708676428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,740.8,604.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_fc4a9c4a635348468d38b9e4452b3b0f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708676412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708676404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708676420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708676437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708676447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708676428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,740.8,604.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_fc4a9c4a635348468d38b9e4452b3b0f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708676412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708676404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708676420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708676437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708676447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708676428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,740.8,604.2>? 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 avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_fc4a9c4a635348468d38b9e4452b3b0f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708676412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708676404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708676420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708676437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708676447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708676428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,740.8,604.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1, CAM_FRONT, 740.8, 604.2>."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_fc4a9c4a635348468d38b9e4452b3b0f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708676412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708676404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708676420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708676437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708676447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708676428113.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, and brake gently to a stop."
            }
        ]
    },
    {
        "id": "1977a1c98a6c4eb79fbc2a6dc0da9b0f_fc4a9c4a635348468d38b9e4452b3b0f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708676412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708676404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708676420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708676437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708676447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708676428113.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": "28d385e6db0e495da3a606b58e2432f0_719c4945af484370b8fc959f79302028_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280286437536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280286427893.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 to the front right of the ego vehicle, and a man wearing black pants to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,841.7,495.0>, <c2,CAM_FRONT_RIGHT,310.6,660.7>, and <c3,CAM_FRONT,754.2,490.0>."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_719c4945af484370b8fc959f79302028_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280286437536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280286427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,841.7,495.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_719c4945af484370b8fc959f79302028_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280286437536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280286427893.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 <c2,CAM_FRONT_RIGHT,310.6,660.7>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_FRONT,841.7,495.0>. It is going ahead, so the ego vehicle should slow down and continue ahead. Thirdly, notice <c3,CAM_FRONT,754.2,490.0>. It is stationary, so the ego vehicle should slightly maneuver to the right."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_719c4945af484370b8fc959f79302028_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280286437536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280286427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,841.7,495.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_719c4945af484370b8fc959f79302028_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280286437536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280286427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,841.7,495.0>? 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, and the probability of this action is high."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_719c4945af484370b8fc959f79302028_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280286437536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280286427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,841.7,495.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_719c4945af484370b8fc959f79302028_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280286437536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280286427893.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": "28d385e6db0e495da3a606b58e2432f0_719c4945af484370b8fc959f79302028_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280286437536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280286427893.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": "28d385e6db0e495da3a606b58e2432f0_9fa2a5ea3c5640f7b125c3469749f5e9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280292362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280292354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280292370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280292387528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280292397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280292377893.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 to the front of the ego vehicle, a pedestrian wearing a pink top and black trousers to the front of the ego vehicle, and a pedestrian wearing a pink top and a blue skirt to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,785.8,570.8>, <c2,CAM_FRONT,1193.3,609.2>, <c3,CAM_FRONT,385.0,630.8>, and <c4,CAM_FRONT,186.7,663.3>."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_9fa2a5ea3c5640f7b125c3469749f5e9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280292362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280292354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280292370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280292387528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280292397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280292377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,785.8,570.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_9fa2a5ea3c5640f7b125c3469749f5e9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280292362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280292354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280292370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280292387528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280292397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280292377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,785.8,570.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_9fa2a5ea3c5640f7b125c3469749f5e9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280292362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280292354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280292370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280292387528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280292397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280292377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,785.8,570.8>? 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": "28d385e6db0e495da3a606b58e2432f0_9fa2a5ea3c5640f7b125c3469749f5e9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280292362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280292354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280292370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280292387528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280292397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280292377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,785.8,570.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_9fa2a5ea3c5640f7b125c3469749f5e9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280292362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280292354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280292370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280292387528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280292397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280292377893.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."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_9fa2a5ea3c5640f7b125c3469749f5e9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280292362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280292354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280292370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280292387528.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280292397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280292377893.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": "28d385e6db0e495da3a606b58e2432f0_d70e0cc20372433bb06efc2d9a67f8c3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280287915379.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280287904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280287920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280287937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280287950020.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280287927893.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 right of the ego vehicle, a black sedan to the front of the ego vehicle, a person wearing a white shirt to the front of the ego vehicle, and a person wearing a skirt to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,215.8,664.2>, <c2,CAM_FRONT,818.3,503.3>, <c3,CAM_FRONT,714.2,494.2>, and <c4,CAM_FRONT,668.3,502.5>."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_d70e0cc20372433bb06efc2d9a67f8c3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280287915379.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280287904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280287920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280287937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280287950020.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280287927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,818.3,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_d70e0cc20372433bb06efc2d9a67f8c3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280287915379.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280287904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280287920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280287937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280287950020.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280287927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,215.8,664.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_d70e0cc20372433bb06efc2d9a67f8c3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280287915379.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280287904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280287920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280287937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280287950020.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280287927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,215.8,664.2>? 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 is high in probability."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_d70e0cc20372433bb06efc2d9a67f8c3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280287915379.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280287904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280287920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280287937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280287950020.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280287927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,215.8,664.2>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_d70e0cc20372433bb06efc2d9a67f8c3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280287915379.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280287904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280287920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280287937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280287950020.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280287927893.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, slightly offset to the right."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_d70e0cc20372433bb06efc2d9a67f8c3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280287915379.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280287904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280287920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280287937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280287950020.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280287927893.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": "28d385e6db0e495da3a606b58e2432f0_71fb3b9be6f6433aac6cc7c42b98d328_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282438270.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282427893.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 right of the ego vehicle, a silver gray sedan to the front right of the ego vehicle, and a white straight arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,171.7,529.2>, <c2,CAM_FRONT_RIGHT,495.8,654.2>, and <c3,CAM_FRONT,1401.9,636.4>."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_71fb3b9be6f6433aac6cc7c42b98d328_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282438270.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,171.7,529.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_71fb3b9be6f6433aac6cc7c42b98d328_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282438270.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282427893.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 <c2,CAM_FRONT_RIGHT,495.8,654.2>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c3,CAM_FRONT,1401.9,636.4>. It is a traffic sign, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_FRONT_RIGHT,171.7,529.2>. It is going ahead, so the ego vehicle should slow down and continue ahead."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_71fb3b9be6f6433aac6cc7c42b98d328_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282438270.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,171.7,529.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_71fb3b9be6f6433aac6cc7c42b98d328_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282438270.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,171.7,529.2>? 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 maintain a safe distance, which is high."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_71fb3b9be6f6433aac6cc7c42b98d328_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282438270.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282427893.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 left."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_71fb3b9be6f6433aac6cc7c42b98d328_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282438270.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,171.7,529.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating straight after making a right turn can lead to a collision with <c1,CAM_FRONT_RIGHT,171.7,529.2>."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_71fb3b9be6f6433aac6cc7c42b98d328_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282438270.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282427893.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": "28d385e6db0e495da3a606b58e2432f0_292765de99654c4d99d3089be6f399d0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282927893.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 to the front of the ego vehicle, and a gray sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1384.2,508.3>, <c2,CAM_FRONT,1565.0,516.7>, and <c3,CAM_FRONT_RIGHT,583.3,700.0>."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_292765de99654c4d99d3089be6f399d0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1384.2,508.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_292765de99654c4d99d3089be6f399d0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282927893.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 <c3,CAM_FRONT_RIGHT,583.3,700.0>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice <c2,CAM_FRONT,1565.0,516.7>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice <c1,CAM_FRONT,1384.2,508.3>, it is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_292765de99654c4d99d3089be6f399d0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1384.2,508.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_292765de99654c4d99d3089be6f399d0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1384.2,508.3>? 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 is highly probable."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_292765de99654c4d99d3089be6f399d0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1384.2,508.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_292765de99654c4d99d3089be6f399d0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282927893.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."
            }
        ]
    },
    {
        "id": "28d385e6db0e495da3a606b58e2432f0_292765de99654c4d99d3089be6f399d0_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280282912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280282904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280282920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280282937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280282947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280282927893.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": "7365754410624f2f85087003f4ed41ad_f5b3d12f82f24f04a3107ec0fb1b3261_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113238862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113238854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113238870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113238887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113238897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113238877893.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 walking person to the back right of the ego vehicle, a person walking on the roadside to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,311.7,538.3>, <c2,CAM_FRONT,1220.0,474.2>, and <c3,CAM_BACK,852.1,519.7>."
            }
        ]
    },
    {
        "id": "7365754410624f2f85087003f4ed41ad_f5b3d12f82f24f04a3107ec0fb1b3261_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113238862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113238854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113238870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113238887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113238897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113238877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,311.7,538.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7365754410624f2f85087003f4ed41ad_f5b3d12f82f24f04a3107ec0fb1b3261_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113238862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113238854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113238870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113238887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113238897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113238877893.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 <c2,CAM_FRONT,1220.0,474.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_BACK_RIGHT,311.7,538.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,852.1,519.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "7365754410624f2f85087003f4ed41ad_f5b3d12f82f24f04a3107ec0fb1b3261_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113238862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113238854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113238870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113238887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113238897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113238877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,311.7,538.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7365754410624f2f85087003f4ed41ad_f5b3d12f82f24f04a3107ec0fb1b3261_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113238862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113238854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113238870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113238887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113238897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113238877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,311.7,538.3>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "7365754410624f2f85087003f4ed41ad_f5b3d12f82f24f04a3107ec0fb1b3261_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113238862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113238854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113238870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113238887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113238897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113238877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,1220.0,474.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "7365754410624f2f85087003f4ed41ad_f5b3d12f82f24f04a3107ec0fb1b3261_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113238862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113238854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113238870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113238887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113238897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113238877893.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": "7365754410624f2f85087003f4ed41ad_f5b3d12f82f24f04a3107ec0fb1b3261_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113238862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113238854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113238870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113238887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113238897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113238877893.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": "7365754410624f2f85087003f4ed41ad_42a8b8322e4f4ad29fb13b8df5721a79_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113252354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113252377893.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 car to the front left of the ego vehicle, a white van to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1234.2,408.3>, <c2,CAM_FRONT,1086.7,496.7>, and <c3,CAM_BACK,829.2,515.8>."
            }
        ]
    },
    {
        "id": "7365754410624f2f85087003f4ed41ad_42a8b8322e4f4ad29fb13b8df5721a79_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113252354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113252377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,829.2,515.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7365754410624f2f85087003f4ed41ad_42a8b8322e4f4ad29fb13b8df5721a79_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113252354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113252377893.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 <c1,CAM_FRONT_LEFT,1234.2,408.3>. It is stationary, so the ego vehicle should continue at the same speed. Secondly, notice <c2,CAM_FRONT,1086.7,496.7>. It is also stationary, so the ego vehicle should continue at the same speed. Thirdly, notice <c3,CAM_BACK,829.2,515.8>. It is stationary, so the ego vehicle should continue at the same speed."
            }
        ]
    },
    {
        "id": "7365754410624f2f85087003f4ed41ad_42a8b8322e4f4ad29fb13b8df5721a79_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113252354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113252377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1234.2,408.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7365754410624f2f85087003f4ed41ad_42a8b8322e4f4ad29fb13b8df5721a79_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113252354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113252377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1234.2,408.3>? 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": "7365754410624f2f85087003f4ed41ad_42a8b8322e4f4ad29fb13b8df5721a79_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113252354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113252377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1234.2,408.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "7365754410624f2f85087003f4ed41ad_42a8b8322e4f4ad29fb13b8df5721a79_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113252354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113252377893.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 is the correct answer."
            }
        ]
    },
    {
        "id": "7365754410624f2f85087003f4ed41ad_42a8b8322e4f4ad29fb13b8df5721a79_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113252354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113252377893.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": "3bc4553925494890a21ef7a15c40eaed_6301ed8cdd1f4faea2e22f7d6648b66c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729256612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729256604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729256620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729256637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729256647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729256628113.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 coach to the back of the ego vehicle, a white SUV to the front right of the ego vehicle, a white SUV to the back left of the ego vehicle, a white truck to the front of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,870.0,499.2>, <c2,CAM_FRONT_RIGHT,135.8,618.8>, <c3,CAM_BACK_LEFT,441.7,635.0>, <c4,CAM_FRONT,805.0,486.7>, and <c5,CAM_FRONT,662.5,515.8>."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_6301ed8cdd1f4faea2e22f7d6648b66c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729256612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729256604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729256620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729256637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729256647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729256628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,870.0,499.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_6301ed8cdd1f4faea2e22f7d6648b66c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729256612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729256604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729256620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729256637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729256647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729256628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,870.0,499.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_6301ed8cdd1f4faea2e22f7d6648b66c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729256612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729256604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729256620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729256637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729256647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729256628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,870.0,499.2>? 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": "3bc4553925494890a21ef7a15c40eaed_6301ed8cdd1f4faea2e22f7d6648b66c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729256612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729256604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729256620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729256637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729256647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729256628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,870.0,499.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_6301ed8cdd1f4faea2e22f7d6648b66c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729256612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729256604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729256620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729256637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729256647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729256628113.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."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_6301ed8cdd1f4faea2e22f7d6648b66c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729256612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729256604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729256620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729256637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729256647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729256628113.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": "3bc4553925494890a21ef7a15c40eaed_8f660e46af424cbb8fab872910c4315d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729242412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729242404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729242420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729242437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729242447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729242428113.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 riding a bicycle to the back right of the ego vehicle, a white sedan to the front right of the ego vehicle, a white truck to the back of the ego vehicle, pedestrians crossing the road to the front of the ego vehicle, and pedestrians crossing the road to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1296.7,548.3>, <c2,CAM_FRONT_RIGHT,340.0,496.7>, <c3,CAM_BACK,847.5,490.0>, <c4,CAM_FRONT,302.5,549.2>, and <c5,CAM_FRONT,971.6,577.9>."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_8f660e46af424cbb8fab872910c4315d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729242412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729242404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729242420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729242437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729242447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729242428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,1296.7,548.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_8f660e46af424cbb8fab872910c4315d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729242412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729242404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729242420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729242437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729242447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729242428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1296.7,548.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_8f660e46af424cbb8fab872910c4315d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729242412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729242404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729242420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729242437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729242447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729242428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1296.7,548.3>? 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": "3bc4553925494890a21ef7a15c40eaed_8f660e46af424cbb8fab872910c4315d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729242412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729242404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729242420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729242437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729242447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729242428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,1296.7,548.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_8f660e46af424cbb8fab872910c4315d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729242412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729242404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729242420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729242437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729242447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729242428113.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; brake suddenly."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_8f660e46af424cbb8fab872910c4315d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729242412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729242404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729242420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729242437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729242447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729242428113.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": "3bc4553925494890a21ef7a15c40eaed_48251ce758f444dcab723167fa8db055_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.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 sedan to the front of the ego vehicle, a person on the roadside to the back left of the ego vehicle, a white sedan to the front of the ego vehicle, a walking person to the back right of the ego vehicle, and a white sedan car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,338.5,544.9>, <c2,CAM_FRONT,1491.7,496.7>, <c3,CAM_BACK_LEFT,278.3,499.2>, <c4,CAM_FRONT,986.7,487.5>, <c5,CAM_BACK_RIGHT,818.3,620.8>, and <c6,CAM_BACK,735.8,506.7>."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_48251ce758f444dcab723167fa8db055_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,338.5,544.9>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_48251ce758f444dcab723167fa8db055_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,338.5,544.9> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_48251ce758f444dcab723167fa8db055_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,338.5,544.9>? 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": "3bc4553925494890a21ef7a15c40eaed_48251ce758f444dcab723167fa8db055_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,338.5,544.9>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_48251ce758f444dcab723167fa8db055_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.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": "3bc4553925494890a21ef7a15c40eaed_48251ce758f444dcab723167fa8db055_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.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 slowly."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_8ae438c8302a4174a5721b682316f3c9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729239912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729239904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729239920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729239937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729239947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729239928113.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 person riding a bicycle to the back right of the ego vehicle, a white SUV to the front right of the ego vehicle, a black car to the back of the ego vehicle, and a pedestrian to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,914.2,514.2>, <c2,CAM_BACK_RIGHT,937.5,592.5>, <c3,CAM_FRONT_RIGHT,400.8,496.7>, <c4,CAM_BACK,1322.6,679.8>, and <c5,CAM_FRONT_RIGHT,1064.6,582.1>."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_8ae438c8302a4174a5721b682316f3c9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729239912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729239904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729239920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729239937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729239947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729239928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,914.2,514.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_8ae438c8302a4174a5721b682316f3c9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729239912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729239904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729239920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729239937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729239947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729239928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,914.2,514.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_8ae438c8302a4174a5721b682316f3c9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729239912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729239904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729239920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729239937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729239947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729239928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,914.2,514.2>? 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": "3bc4553925494890a21ef7a15c40eaed_8ae438c8302a4174a5721b682316f3c9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729239912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729239904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729239920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729239937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729239947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729239928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,914.2,514.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_8ae438c8302a4174a5721b682316f3c9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729239912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729239904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729239920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729239937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729239947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729239928113.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": "Turning right and maintaining the current speed are safe actions for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "3bc4553925494890a21ef7a15c40eaed_8ae438c8302a4174a5721b682316f3c9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729239912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729239904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729239920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729239937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729239947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729239928113.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": "ef5f216134a94e308697ab4c75402a20_f063228252aa4508ad723f6cc57f9782_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112851662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112851654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112851670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112851687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112851697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112851677893.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 right of the ego vehicle, a white sedan to the front right of the ego vehicle, and a white straight arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,302.5,552.5>, <c2,CAM_FRONT_RIGHT,471.6,628.3>, and <c3,CAM_FRONT,1219.2,632.5>."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_f063228252aa4508ad723f6cc57f9782_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112851662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112851654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112851670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112851687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112851697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112851677893.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 <c2,CAM_FRONT_RIGHT,471.6,628.3>. The object is stationary, so the ego vehicle should slightly offset to the left in maneuvering. Secondly, notice that <c1,CAM_FRONT_RIGHT,302.5,552.5>. The object is stationary, so the ego vehicle should slightly offset to the left in maneuvering. Thirdly, notice that <c3,CAM_FRONT,1219.2,632.5>. The object is stationary, so the ego vehicle should accelerate and go ahead."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_f063228252aa4508ad723f6cc57f9782_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112851662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112851654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112851670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112851687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112851697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112851677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,302.5,552.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_f063228252aa4508ad723f6cc57f9782_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112851662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112851654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112851670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112851687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112851697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112851677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,302.5,552.5>? 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": "ef5f216134a94e308697ab4c75402a20_f063228252aa4508ad723f6cc57f9782_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112851662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112851654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112851670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112851687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112851697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112851677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,302.5,552.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_f063228252aa4508ad723f6cc57f9782_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112851662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112851654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112851670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112851687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112851697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112851677893.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_f063228252aa4508ad723f6cc57f9782_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112851662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112851654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112851670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112851687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112851697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112851677893.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 fast."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_9cd8fe18b9ce4662b50277a5e7fd91dc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112866612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112866604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112866620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112866637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112866647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112866627893.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 left of the ego vehicle, a silver sedan to the front right of the ego vehicle, and a silver car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1227.5,525.8>, <c2,CAM_FRONT_RIGHT,529.9,642.8>, and <c3,CAM_FRONT,419.2,496.7>."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_9cd8fe18b9ce4662b50277a5e7fd91dc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112866612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112866604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112866620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112866637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112866647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112866627893.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 <c2,CAM_FRONT_RIGHT,529.9,642.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,419.2,496.7>. The object is stationary, so the ego vehicle should slow down and go ahead. Thirdly, notice that <c1,CAM_FRONT_LEFT,1227.5,525.8>. The object is stationary, so the ego vehicle should slow down and go ahead."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_9cd8fe18b9ce4662b50277a5e7fd91dc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112866612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112866604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112866620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112866637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112866647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112866627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1227.5,525.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_9cd8fe18b9ce4662b50277a5e7fd91dc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112866612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112866604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112866620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112866637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112866647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112866627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1227.5,525.8>? 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": "ef5f216134a94e308697ab4c75402a20_9cd8fe18b9ce4662b50277a5e7fd91dc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112866612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112866604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112866620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112866637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112866647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112866627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,529.9,642.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_9cd8fe18b9ce4662b50277a5e7fd91dc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112866612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112866604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112866620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112866637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112866647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112866627893.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": "ef5f216134a94e308697ab4c75402a20_9cd8fe18b9ce4662b50277a5e7fd91dc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112866612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112866604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112866620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112866637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112866647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112866627893.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": "ef5f216134a94e308697ab4c75402a20_2cf0145123bd4576bde86691f93fa8e0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112864112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112864104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112864120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112864137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112864147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112864127893.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 right of the ego vehicle, a white sedan to the front of the ego vehicle, and a straight left-turn landmark line to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,978.9,651.1>, <c2,CAM_FRONT,585.8,495.8>, and <c3,CAM_FRONT,827.0,596.3>."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_2cf0145123bd4576bde86691f93fa8e0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112864112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112864104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112864120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112864137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112864147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112864127893.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 <c1,CAM_FRONT_RIGHT,978.9,651.1>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,827.0,596.3>. The object is a traffic sign, so the ego vehicle should slow down and proceed. Thirdly, notice that <c2,CAM_FRONT,585.8,495.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_2cf0145123bd4576bde86691f93fa8e0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112864112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112864104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112864120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112864137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112864147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112864127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,978.9,651.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_2cf0145123bd4576bde86691f93fa8e0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112864112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112864104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112864120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112864137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112864147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112864127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,978.9,651.1>? 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": "ef5f216134a94e308697ab4c75402a20_2cf0145123bd4576bde86691f93fa8e0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112864112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112864104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112864120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112864137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112864147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112864127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,978.9,651.1>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_2cf0145123bd4576bde86691f93fa8e0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112864112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112864104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112864120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112864137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112864147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112864127893.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": "ef5f216134a94e308697ab4c75402a20_2cf0145123bd4576bde86691f93fa8e0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112864112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112864104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112864120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112864137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112864147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112864127893.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": "ef5f216134a94e308697ab4c75402a20_010018b127ba496cafde85e457515b00_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112857162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112857154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112857170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112857187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112857197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112857177893.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 right of the ego vehicle, a white sedan car to the front right of the ego vehicle, and a white arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,138.1,607.1>, <c2,CAM_FRONT_RIGHT,787.9,700.6>, and <c3,CAM_FRONT,850.8,717.1>."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_010018b127ba496cafde85e457515b00_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112857162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112857154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112857170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112857187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112857197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112857177893.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 <c3,CAM_FRONT,850.8,717.1>. The object is a traffic sign, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_RIGHT,138.1,607.1>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT_RIGHT,787.9,700.6>. The object is also stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_010018b127ba496cafde85e457515b00_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112857162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112857154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112857170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112857187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112857197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112857177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,138.1,607.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_010018b127ba496cafde85e457515b00_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112857162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112857154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112857170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112857187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112857197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112857177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,138.1,607.1>? 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": "ef5f216134a94e308697ab4c75402a20_010018b127ba496cafde85e457515b00_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112857162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112857154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112857170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112857187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112857197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112857177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,138.1,607.1>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "ef5f216134a94e308697ab4c75402a20_010018b127ba496cafde85e457515b00_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112857162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112857154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112857170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112857187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112857197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112857177893.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": "ef5f216134a94e308697ab4c75402a20_010018b127ba496cafde85e457515b00_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112857162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112857154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112857170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112857187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112857197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112857177893.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": "b526c20f7eed49f0886cdb4ba6b733e8_a1010b7006694f3b878c500cc4a2fc06_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034021662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034021654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034021670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034021687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034021697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034021677893.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 worker wearing yellow and blue clothes to the back of the ego vehicle, a red and white cone bucket to the front of the ego vehicle, a white truck to the front of the ego vehicle, and a blue truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1115.0,588.3>, <c2,CAM_FRONT,1188.3,714.2>, <c3,CAM_FRONT,994.2,489.2>, and <c4,CAM_FRONT,1566.6,514.4>."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_a1010b7006694f3b878c500cc4a2fc06_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034021662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034021654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034021670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034021687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034021697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034021677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1115.0,588.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_a1010b7006694f3b878c500cc4a2fc06_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034021662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034021654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034021670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034021687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034021697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034021677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1115.0,588.3>? 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": "b526c20f7eed49f0886cdb4ba6b733e8_a1010b7006694f3b878c500cc4a2fc06_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034021662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034021654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034021670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034021687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034021697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034021677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1115.0,588.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_a1010b7006694f3b878c500cc4a2fc06_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034021662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034021654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034021670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034021687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034021697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034021677893.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."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_a1010b7006694f3b878c500cc4a2fc06_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034021662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034021654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034021670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034021687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034021697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034021677893.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": "b526c20f7eed49f0886cdb4ba6b733e8_5152ea92d403482a95472058cef2b6b7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034027662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034027654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034027670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034027687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034027697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034027677893.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 back right of the ego vehicle, a pedestrian wearing a blue top and pants to the front right of the ego vehicle, and a slow down to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1048.9,444.8>, <c2,CAM_FRONT_RIGHT,397.5,602.5>, and <c3,CAM_BACK,845.0,571.2>."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_5152ea92d403482a95472058cef2b6b7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034027662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034027654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034027670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034027687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034027697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034027677893.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 <c2,CAM_FRONT_RIGHT,397.5,602.5>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c3,CAM_BACK,845.0,571.2>. It is a traffic sign, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_BACK_RIGHT,1048.9,444.8>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_5152ea92d403482a95472058cef2b6b7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034027662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034027654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034027670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034027687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034027697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034027677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1048.9,444.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_5152ea92d403482a95472058cef2b6b7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034027662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034027654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034027670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034027687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034027697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034027677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1048.9,444.8>? 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": "b526c20f7eed49f0886cdb4ba6b733e8_5152ea92d403482a95472058cef2b6b7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034027662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034027654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034027670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034027687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034027697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034027677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,397.5,602.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_5152ea92d403482a95472058cef2b6b7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034027662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034027654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034027670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034027687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034027697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034027677893.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": "b526c20f7eed49f0886cdb4ba6b733e8_5152ea92d403482a95472058cef2b6b7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034027662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034027654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034027670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034027687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034027697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034027677893.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 with normal speed."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_346b30b0f6c346ef84108cbce3abba2a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034025162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034025154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034025170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034025187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034025197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034025177893.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 green trash can to the front right of the ego vehicle, a white truck to the front of the ego vehicle, and an orange and white traffic cone to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,149.2,655.0>, <c2,CAM_FRONT,1255.0,506.7>, and <c3,CAM_FRONT,1005.0,600.0>."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_346b30b0f6c346ef84108cbce3abba2a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034025162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034025154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034025170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034025187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034025197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034025177893.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 <c2,CAM_FRONT,1255.0,506.7>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_FRONT,1005.0,600.0>, the object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c1,CAM_FRONT_RIGHT,149.2,655.0>, it is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_346b30b0f6c346ef84108cbce3abba2a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034025162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034025154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034025170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034025187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034025197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034025177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,149.2,655.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_346b30b0f6c346ef84108cbce3abba2a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034025162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034025154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034025170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034025187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034025197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034025177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,149.2,655.0>? 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": "b526c20f7eed49f0886cdb4ba6b733e8_346b30b0f6c346ef84108cbce3abba2a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034025162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034025154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034025170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034025187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034025197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034025177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,149.2,655.0>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_346b30b0f6c346ef84108cbce3abba2a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034025162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034025154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034025170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034025187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034025197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034025177893.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "b526c20f7eed49f0886cdb4ba6b733e8_346b30b0f6c346ef84108cbce3abba2a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034025162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034025154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034025170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034025187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034025197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034025177893.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": "cf3db17f34cd412faca3535ac8c7069a_2a4805a6301b4c6691dfbd2065df40fa_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385146404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385146428113.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, and a white SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1240.0,550.0>, <c2,CAM_FRONT,200.8,472.5>, and <c3,CAM_FRONT,875.0,475.8>."
            }
        ]
    },
    {
        "id": "cf3db17f34cd412faca3535ac8c7069a_2a4805a6301b4c6691dfbd2065df40fa_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385146404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385146428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1240.0,550.0>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "cf3db17f34cd412faca3535ac8c7069a_2a4805a6301b4c6691dfbd2065df40fa_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385146404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385146428113.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 <c2,CAM_FRONT,200.8,472.5>. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice <c3,CAM_FRONT,875.0,475.8>. It is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c1,CAM_BACK,1240.0,550.0>. It is turning left, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "cf3db17f34cd412faca3535ac8c7069a_2a4805a6301b4c6691dfbd2065df40fa_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385146404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385146428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1240.0,550.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cf3db17f34cd412faca3535ac8c7069a_2a4805a6301b4c6691dfbd2065df40fa_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385146404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385146428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1240.0,550.0>? 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": "cf3db17f34cd412faca3535ac8c7069a_2a4805a6301b4c6691dfbd2065df40fa_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385146404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385146428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1240.0,550.0>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "cf3db17f34cd412faca3535ac8c7069a_2a4805a6301b4c6691dfbd2065df40fa_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385146404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385146428113.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": "cf3db17f34cd412faca3535ac8c7069a_2a4805a6301b4c6691dfbd2065df40fa_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385146404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385146428113.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": "b2119bd765a94b0cb705424800307bbf_055e2f48abdf4957b634951ebf64db9e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193603612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193603604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193603620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193603637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193603647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193603627893.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 bus to the front of the ego vehicle, a pedestrian to the back of the ego vehicle, and a black sedan car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,663.3,457.5>, <c2,CAM_BACK,1047.5,506.7>, and <c3,CAM_BACK,900.0,540.0>."
            }
        ]
    },
    {
        "id": "b2119bd765a94b0cb705424800307bbf_055e2f48abdf4957b634951ebf64db9e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193603612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193603604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193603620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193603637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193603647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193603627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,663.3,457.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b2119bd765a94b0cb705424800307bbf_055e2f48abdf4957b634951ebf64db9e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193603612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193603604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193603620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193603637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193603647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193603627893.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 <c1,CAM_FRONT,663.3,457.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice <c3,CAM_BACK,900.0,540.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice <c2,CAM_BACK,1047.5,506.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "b2119bd765a94b0cb705424800307bbf_055e2f48abdf4957b634951ebf64db9e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193603612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193603604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193603620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193603637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193603647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193603627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,663.3,457.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b2119bd765a94b0cb705424800307bbf_055e2f48abdf4957b634951ebf64db9e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193603612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193603604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193603620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193603637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193603647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193603627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,663.3,457.5>? 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": "b2119bd765a94b0cb705424800307bbf_055e2f48abdf4957b634951ebf64db9e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193603612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193603604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193603620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193603637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193603647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193603627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,663.3,457.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "b2119bd765a94b0cb705424800307bbf_055e2f48abdf4957b634951ebf64db9e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193603612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193603604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193603620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193603637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193603647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193603627893.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": "b2119bd765a94b0cb705424800307bbf_055e2f48abdf4957b634951ebf64db9e_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193603612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193603604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193603620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193603637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193603647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193603627893.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": "b2119bd765a94b0cb705424800307bbf_23d4303d62494d2db264d51c9e01be28_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193612162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193612154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193612170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193612187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193612197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193612177893.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 black top to the front of the ego vehicle, a black truck to the back of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,518.3,539.2>, <c2,CAM_BACK,835.0,470.8>, and <c3,CAM_BACK,820.0,531.7>."
            }
        ]
    },
    {
        "id": "b2119bd765a94b0cb705424800307bbf_23d4303d62494d2db264d51c9e01be28_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193612162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193612154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193612170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193612187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193612197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193612177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,518.3,539.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b2119bd765a94b0cb705424800307bbf_23d4303d62494d2db264d51c9e01be28_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193612162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193612154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193612170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193612187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193612197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193612177893.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 <c1,CAM_FRONT,518.3,539.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_BACK,820.0,531.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,835.0,470.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "b2119bd765a94b0cb705424800307bbf_23d4303d62494d2db264d51c9e01be28_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193612162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193612154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193612170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193612187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193612197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193612177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,518.3,539.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b2119bd765a94b0cb705424800307bbf_23d4303d62494d2db264d51c9e01be28_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193612162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193612154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193612170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193612187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193612197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193612177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,518.3,539.2>? 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": "b2119bd765a94b0cb705424800307bbf_23d4303d62494d2db264d51c9e01be28_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193612162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193612154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193612170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193612187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193612197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193612177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,518.3,539.2>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "b2119bd765a94b0cb705424800307bbf_23d4303d62494d2db264d51c9e01be28_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193612162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193612154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193612170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193612187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193612197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193612177893.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": "b2119bd765a94b0cb705424800307bbf_23d4303d62494d2db264d51c9e01be28_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193612162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193612154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193612170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193612187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193612197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193612177893.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": "7809330e0345423ab6212787edf3561b_c82838343f3c4dc49eb8aca81eef8d51_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478785162411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478785154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478785170524.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478785187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478785197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478785178113.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 black small car to the back of the ego vehicle, and a white truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,300.0,326.7>, <c2,CAM_BACK,825.0,505.0>, and <c3,CAM_FRONT_LEFT,270.8,399.2>."
            }
        ]
    },
    {
        "id": "7809330e0345423ab6212787edf3561b_c82838343f3c4dc49eb8aca81eef8d51_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478785162411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478785154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478785170524.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478785187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478785197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478785178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,300.0,326.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7809330e0345423ab6212787edf3561b_c82838343f3c4dc49eb8aca81eef8d51_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478785162411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478785154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478785170524.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478785187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478785197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478785178113.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 <c1,CAM_FRONT,300.0,326.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_LEFT,270.8,399.2>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,825.0,505.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "7809330e0345423ab6212787edf3561b_c82838343f3c4dc49eb8aca81eef8d51_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478785162411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478785154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478785170524.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478785187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478785197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478785178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,300.0,326.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7809330e0345423ab6212787edf3561b_c82838343f3c4dc49eb8aca81eef8d51_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478785162411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478785154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478785170524.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478785187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478785197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478785178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,300.0,326.7>? 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": "7809330e0345423ab6212787edf3561b_c82838343f3c4dc49eb8aca81eef8d51_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478785162411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478785154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478785170524.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478785187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478785197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478785178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,300.0,326.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "7809330e0345423ab6212787edf3561b_c82838343f3c4dc49eb8aca81eef8d51_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478785162411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478785154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478785170524.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478785187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478785197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478785178113.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 proceed."
            }
        ]
    },
    {
        "id": "7809330e0345423ab6212787edf3561b_c82838343f3c4dc49eb8aca81eef8d51_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478785162411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478785154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478785170524.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478785187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478785197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478785178113.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": "c0cb50847c3949a0b4baf2e200ac897c_0b09ec030a654aa687bcbd62daf030fa_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153516262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153516254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153516270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153516287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153516297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153516278113.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 of the ego vehicle, a white sedan to the front of the ego vehicle, and a black sedan car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,861.7,533.3>, <c2,CAM_FRONT,1095.8,497.5>, and <c3,CAM_FRONT,184.2,524.2>."
            }
        ]
    },
    {
        "id": "c0cb50847c3949a0b4baf2e200ac897c_0b09ec030a654aa687bcbd62daf030fa_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153516262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153516254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153516270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153516287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153516297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153516278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,861.7,533.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c0cb50847c3949a0b4baf2e200ac897c_0b09ec030a654aa687bcbd62daf030fa_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153516262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153516254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153516270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153516287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153516297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153516278113.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 <c2,CAM_FRONT,1095.8,497.5>. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice <c3,CAM_FRONT,184.2,524.2>. It is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice <c1,CAM_BACK,861.7,533.3>. It is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "c0cb50847c3949a0b4baf2e200ac897c_0b09ec030a654aa687bcbd62daf030fa_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153516262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153516254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153516270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153516287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153516297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153516278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,861.7,533.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c0cb50847c3949a0b4baf2e200ac897c_0b09ec030a654aa687bcbd62daf030fa_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153516262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153516254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153516270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153516287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153516297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153516278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,861.7,533.3>? 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": "c0cb50847c3949a0b4baf2e200ac897c_0b09ec030a654aa687bcbd62daf030fa_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153516262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153516254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153516270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153516287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153516297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153516278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,861.7,533.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "c0cb50847c3949a0b4baf2e200ac897c_0b09ec030a654aa687bcbd62daf030fa_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153516262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153516254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153516270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153516287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153516297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153516278113.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, or decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "c0cb50847c3949a0b4baf2e200ac897c_0b09ec030a654aa687bcbd62daf030fa_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153516262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153516254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153516270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153516287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153516297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153516278113.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": "c0cb50847c3949a0b4baf2e200ac897c_da5d7b805cdc4258b39673c199ef4408_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153528262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153528254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153528270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153528287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153528297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153528278113.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 black clothes to the front left of the ego vehicle, a black car to the back left of the ego vehicle, a silver SUV to the back of the ego vehicle, a white SUV 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 <c1,CAM_FRONT_LEFT,1219.2,526.7>, <c2,CAM_BACK_LEFT,1196.9,688.6>, <c3,CAM_BACK,613.3,564.0>, <c4,CAM_FRONT,884.2,496.7>, and <c5,CAM_FRONT,1013.3,498.3>."
            }
        ]
    },
    {
        "id": "c0cb50847c3949a0b4baf2e200ac897c_da5d7b805cdc4258b39673c199ef4408_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153528262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153528254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153528270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153528287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153528297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153528278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1219.2,526.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c0cb50847c3949a0b4baf2e200ac897c_da5d7b805cdc4258b39673c199ef4408_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153528262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153528254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153528270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153528287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153528297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153528278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1219.2,526.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c0cb50847c3949a0b4baf2e200ac897c_da5d7b805cdc4258b39673c199ef4408_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153528262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153528254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153528270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153528287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153528297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153528278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1219.2,526.7>? 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": "c0cb50847c3949a0b4baf2e200ac897c_da5d7b805cdc4258b39673c199ef4408_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153528262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153528254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153528270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153528287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153528297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153528278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1219.2,526.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "c0cb50847c3949a0b4baf2e200ac897c_da5d7b805cdc4258b39673c199ef4408_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153528262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153528254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153528270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153528287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153528297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153528278113.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_da5d7b805cdc4258b39673c199ef4408_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153528262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153528254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153528270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153528287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153528297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153528278113.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 with normal speed."
            }
        ]
    },
    {
        "id": "52bb785dcb5548a1836898f14fb3cf6d_99f91bee226b42f3984d2e0a1d438fa2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488117762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488117754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488117770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488117787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488117797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488117778113.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 car to the front left of the ego vehicle, a white pickup truck to the back of the ego vehicle, a gray sedan to the front of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,922.4,590.1>, <c2,CAM_BACK,930.0,581.7>, <c3,CAM_FRONT,897.5,548.3>, and <c4,CAM_FRONT,447.5,534.0>."
            }
        ]
    },
    {
        "id": "52bb785dcb5548a1836898f14fb3cf6d_99f91bee226b42f3984d2e0a1d438fa2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488117762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488117754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488117770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488117787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488117797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488117778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,922.4,590.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "52bb785dcb5548a1836898f14fb3cf6d_99f91bee226b42f3984d2e0a1d438fa2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488117762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488117754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488117770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488117787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488117797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488117778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,922.4,590.1>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "52bb785dcb5548a1836898f14fb3cf6d_99f91bee226b42f3984d2e0a1d438fa2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488117762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488117754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488117770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488117787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488117797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488117778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,922.4,590.1>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "52bb785dcb5548a1836898f14fb3cf6d_99f91bee226b42f3984d2e0a1d438fa2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488117762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488117754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488117770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488117787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488117797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488117778113.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, and brake gently to a stop."
            }
        ]
    },
    {
        "id": "52bb785dcb5548a1836898f14fb3cf6d_99f91bee226b42f3984d2e0a1d438fa2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488117762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488117754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488117770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488117787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488117797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488117778113.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": "268099669c954f429087081530094337_e0c123373fe743fea35b7adc908f3ca7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033821162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033821154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033821170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033821187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033821197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033821177893.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 pedestrian wearing a white shirt to the back left of the ego vehicle, a white truck to the front right of the ego vehicle, a white truck to the front right of the ego vehicle, and a silver sedan car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,661.7,605.8>, <c2,CAM_BACK_LEFT,585.0,655.0>, <c3,CAM_FRONT_RIGHT,877.5,579.2>, <c4,CAM_FRONT_RIGHT,474.2,545.0>, and <c5,CAM_FRONT,993.3,525.0>."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_e0c123373fe743fea35b7adc908f3ca7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033821162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033821154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033821170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033821187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033821197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033821177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK_LEFT,585.0,655.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_e0c123373fe743fea35b7adc908f3ca7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033821162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033821154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033821170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033821187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033821197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033821177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,661.7,605.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_e0c123373fe743fea35b7adc908f3ca7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033821162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033821154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033821170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033821187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033821197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033821177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,661.7,605.8>? 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 for taking this action is to avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_e0c123373fe743fea35b7adc908f3ca7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033821162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033821154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033821170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033821187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033821197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033821177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,661.7,605.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_e0c123373fe743fea35b7adc908f3ca7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033821162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033821154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033821170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033821187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033821197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033821177893.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": "268099669c954f429087081530094337_e0c123373fe743fea35b7adc908f3ca7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033821162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033821154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033821170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033821187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033821197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033821177893.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 slowly."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_763dc92a13664b4cacc1315df0cdd843_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033823162465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033823154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033823170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033823187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033823197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033823177893.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 worker to the front of the ego vehicle, a black sedan to the front left of the ego vehicle, a pedestrian to the back of the ego vehicle, a white truck to the front right of the ego vehicle, and a gray sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1480.8,655.0>, <c2,CAM_FRONT_LEFT,1254.2,722.5>, <c3,CAM_BACK,1500.8,672.5>, <c4,CAM_FRONT_RIGHT,532.5,563.3>, and <c5,CAM_FRONT,591.5,527.8>."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_763dc92a13664b4cacc1315df0cdd843_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033823162465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033823154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033823170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033823187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033823197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033823177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,1500.8,672.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_763dc92a13664b4cacc1315df0cdd843_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033823162465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033823154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033823170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033823187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033823197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033823177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1480.8,655.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_763dc92a13664b4cacc1315df0cdd843_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033823162465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033823154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033823170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033823187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033823197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033823177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1480.8,655.0>? 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": "268099669c954f429087081530094337_763dc92a13664b4cacc1315df0cdd843_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033823162465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033823154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033823170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033823187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033823197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033823177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1480.8,655.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_763dc92a13664b4cacc1315df0cdd843_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033823162465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033823154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033823170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033823187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033823197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033823177893.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": "268099669c954f429087081530094337_763dc92a13664b4cacc1315df0cdd843_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033823162465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033823154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033823170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033823187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033823197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033823177893.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 with normal speed."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_9752d9cc73064be6ad359a9779c5999a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033828612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033828604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033828620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033828637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033828647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033828627893.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 gray SUV to the back of the ego vehicle, and a white road sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,900.0,535.8>, <c2,CAM_BACK,200.4,667.0>, and <c3,CAM_FRONT,860.2,547.5>."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_9752d9cc73064be6ad359a9779c5999a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033828612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033828604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033828620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033828637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033828647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033828627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,900.0,535.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_9752d9cc73064be6ad359a9779c5999a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033828612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033828604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033828620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033828637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033828647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033828627893.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 <c3,CAM_FRONT,860.2,547.5>. The object is a traffic sign, so the ego vehicle should slow down and proceed. Secondly, notice <c2,CAM_BACK,200.4,667.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_BACK,900.0,535.8>. There is no object present, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_9752d9cc73064be6ad359a9779c5999a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033828612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033828604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033828620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033828637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033828647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033828627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,900.0,535.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_9752d9cc73064be6ad359a9779c5999a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033828612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033828604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033828620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033828637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033828647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033828627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,900.0,535.8>? 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."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_9752d9cc73064be6ad359a9779c5999a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033828612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033828604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033828620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033828637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033828647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033828627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,900.0,535.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_9752d9cc73064be6ad359a9779c5999a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033828612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033828604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033828620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033828637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033828647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033828627893.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 left."
            }
        ]
    },
    {
        "id": "268099669c954f429087081530094337_9752d9cc73064be6ad359a9779c5999a_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033828612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033828604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033828620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033828637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033828647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033828627893.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": "2575c1870ede486b8568279b4731e47e_8ccbf80c252441479fd73da6c84eceb8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287145012429.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287145004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287145020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287145037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287145047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287145028113.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 right of the ego vehicle, a black car to the back of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,679.2,447.5>, <c2,CAM_BACK,489.2,508.3>, and <c3,CAM_FRONT,1086.7,445.0>."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_8ccbf80c252441479fd73da6c84eceb8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287145012429.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287145004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287145020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287145037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287145047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287145028113.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 <c3,CAM_FRONT,1086.7,445.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_RIGHT,679.2,447.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,489.2,508.3>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_8ccbf80c252441479fd73da6c84eceb8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287145012429.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287145004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287145020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287145037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287145047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287145028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,679.2,447.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_8ccbf80c252441479fd73da6c84eceb8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287145012429.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287145004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287145020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287145037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287145047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287145028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,679.2,447.5>? 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": "2575c1870ede486b8568279b4731e47e_8ccbf80c252441479fd73da6c84eceb8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287145012429.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287145004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287145020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287145037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287145047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287145028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,679.2,447.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_8ccbf80c252441479fd73da6c84eceb8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287145012429.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287145004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287145020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287145037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287145047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287145028113.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": "2575c1870ede486b8568279b4731e47e_8ccbf80c252441479fd73da6c84eceb8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287145012429.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287145004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287145020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287145037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287145047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287145028113.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": "2575c1870ede486b8568279b4731e47e_0e956c562847437ca0303ef727944078_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287141512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287141504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287141520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287141537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287141547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287141528113.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 back of the ego vehicle, a black SUV to the front right of the ego vehicle, and a red truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1167.5,464.2>, <c2,CAM_FRONT_RIGHT,1121.7,545.0>, and <c3,CAM_FRONT,752.5,471.7>."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_0e956c562847437ca0303ef727944078_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287141512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287141504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287141520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287141537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287141547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287141528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1167.5,464.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_0e956c562847437ca0303ef727944078_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287141512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287141504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287141520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287141537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287141547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287141528113.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 <c2,CAM_FRONT_RIGHT,1121.7,545.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,752.5,471.7>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,1167.5,464.2>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_0e956c562847437ca0303ef727944078_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287141512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287141504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287141520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287141537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287141547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287141528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1167.5,464.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_0e956c562847437ca0303ef727944078_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287141512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287141504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287141520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287141537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287141547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287141528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1167.5,464.2>? 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": "2575c1870ede486b8568279b4731e47e_0e956c562847437ca0303ef727944078_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287141512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287141504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287141520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287141537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287141547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287141528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1167.5,464.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_0e956c562847437ca0303ef727944078_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287141512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287141504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287141520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287141537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287141547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287141528113.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": "2575c1870ede486b8568279b4731e47e_0e956c562847437ca0303ef727944078_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287141512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287141504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287141520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287141537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287141547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287141528113.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": "2575c1870ede486b8568279b4731e47e_1474e64fdd3e48f196282643b97c8691_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287144512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287144504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287144520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287144537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287144547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287144528113.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 red truck to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,398.3,515.0>, <c2,CAM_FRONT,973.3,450.0>, and <c3,CAM_FRONT,468.3,473.3>."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_1474e64fdd3e48f196282643b97c8691_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287144512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287144504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287144520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287144537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287144547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287144528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,398.3,515.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_1474e64fdd3e48f196282643b97c8691_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287144512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287144504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287144520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287144537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287144547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287144528113.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 <c2,CAM_FRONT,973.3,450.0>. It is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,468.3,473.3>. It is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,398.3,515.0>. It is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_1474e64fdd3e48f196282643b97c8691_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287144512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287144504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287144520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287144537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287144547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287144528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,398.3,515.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_1474e64fdd3e48f196282643b97c8691_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287144512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287144504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287144520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287144537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287144547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287144528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,398.3,515.0>? 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": "2575c1870ede486b8568279b4731e47e_1474e64fdd3e48f196282643b97c8691_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287144512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287144504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287144520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287144537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287144547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287144528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,398.3,515.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_1474e64fdd3e48f196282643b97c8691_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287144512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287144504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287144520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287144537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287144547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287144528113.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": "2575c1870ede486b8568279b4731e47e_1474e64fdd3e48f196282643b97c8691_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287144512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287144504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287144520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287144537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287144547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287144528113.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": "2575c1870ede486b8568279b4731e47e_af4ff50fd4a541e1888cdd407c5bec7c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287157362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287157354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287157370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287157387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287157397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287157378113.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 commercial vehicle to the front of the ego vehicle, a white pickup truck to the front of the ego vehicle, a red truck to the back of the ego vehicle, and an orange cone to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1306.7,490.0>, <c2,CAM_FRONT,855.8,489.2>, <c3,CAM_BACK,944.2,470.0>, and <c4,CAM_FRONT,1307.5,576.7>."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_af4ff50fd4a541e1888cdd407c5bec7c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287157362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287157354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287157370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287157387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287157397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287157378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1306.7,490.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_af4ff50fd4a541e1888cdd407c5bec7c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287157362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287157354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287157370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287157387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287157397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287157378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1306.7,490.0>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_af4ff50fd4a541e1888cdd407c5bec7c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287157362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287157354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287157370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287157387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287157397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287157378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1306.7,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_af4ff50fd4a541e1888cdd407c5bec7c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287157362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287157354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287157370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287157387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287157397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287157378113.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": "2575c1870ede486b8568279b4731e47e_af4ff50fd4a541e1888cdd407c5bec7c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287157362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287157354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287157370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287157387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287157397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287157378113.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": "2575c1870ede486b8568279b4731e47e_5fe3ec3a86cd4c7cb3df326a08b18116_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287159412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287159404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287159420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287159437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287159447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287159428113.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 pickup truck to the front left of the ego vehicle, a black commercial vehicle to the front of the ego vehicle, and a white pickup truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,732.5,535.8>, <c2,CAM_FRONT,1305.0,500.8>, and <c3,CAM_FRONT,507.5,506.7>."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_5fe3ec3a86cd4c7cb3df326a08b18116_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287159412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287159404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287159420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287159437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287159447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287159428113.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 <c1,CAM_FRONT_LEFT,732.5,535.8>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,507.5,506.7>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT,1305.0,500.8>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_5fe3ec3a86cd4c7cb3df326a08b18116_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287159412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287159404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287159420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287159437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287159447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287159428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,732.5,535.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_5fe3ec3a86cd4c7cb3df326a08b18116_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287159412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287159404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287159420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287159437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287159447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287159428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,732.5,535.8>? 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": "2575c1870ede486b8568279b4731e47e_5fe3ec3a86cd4c7cb3df326a08b18116_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287159412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287159404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287159420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287159437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287159447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287159428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,732.5,535.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_5fe3ec3a86cd4c7cb3df326a08b18116_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287159412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287159404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287159420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287159437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287159447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287159428113.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 back up."
            }
        ]
    },
    {
        "id": "2575c1870ede486b8568279b4731e47e_5fe3ec3a86cd4c7cb3df326a08b18116_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287159412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287159404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287159420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287159437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287159447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287159428113.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": "2a721a8d80e04e4e82709e6150f5196a_c53e34b54e4e447589ef9e2641ad1e87_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985695912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985695904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985695920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985695937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985695947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985695927893.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 bus to the front of the ego vehicle, a white truck to the back right of the ego vehicle, and a yellow and black roadblock to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1259.2,555.8>, <c2,CAM_BACK_RIGHT,259.6,426.8>, and <c3,CAM_FRONT_RIGHT,148.1,574.0>."
            }
        ]
    },
    {
        "id": "2a721a8d80e04e4e82709e6150f5196a_c53e34b54e4e447589ef9e2641ad1e87_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985695912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985695904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985695920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985695937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985695947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985695927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1259.2,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2a721a8d80e04e4e82709e6150f5196a_c53e34b54e4e447589ef9e2641ad1e87_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985695912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985695904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985695920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985695937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985695947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985695927893.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 <c2,CAM_BACK_RIGHT,259.6,426.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_RIGHT,148.1,574.0>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT,1259.2,555.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "2a721a8d80e04e4e82709e6150f5196a_c53e34b54e4e447589ef9e2641ad1e87_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985695912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985695904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985695920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985695937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985695947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985695927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1259.2,555.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2a721a8d80e04e4e82709e6150f5196a_c53e34b54e4e447589ef9e2641ad1e87_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985695912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985695904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985695920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985695937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985695947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985695927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1259.2,555.8>? 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": "2a721a8d80e04e4e82709e6150f5196a_c53e34b54e4e447589ef9e2641ad1e87_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985695912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985695904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985695920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985695937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985695947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985695927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1259.2,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "2a721a8d80e04e4e82709e6150f5196a_c53e34b54e4e447589ef9e2641ad1e87_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985695912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985695904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985695920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985695937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985695947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985695927893.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 left."
            }
        ]
    },
    {
        "id": "2a721a8d80e04e4e82709e6150f5196a_c53e34b54e4e447589ef9e2641ad1e87_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985695912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985695904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985695920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985695937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985695947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985695927893.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": "2a721a8d80e04e4e82709e6150f5196a_982b2ee24d9a457bb9634b4c31f3a34a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985685412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985685404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985685420369.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985685437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985685447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985685427893.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 straight or left turn landmark to the front of the ego vehicle, a white straight ahead to the front of the ego vehicle, and a gray streetlight to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,839.2,672.8>, <c2,CAM_FRONT,1254.2,684.3>, and <c3,CAM_FRONT,1335.8,358.5>."
            }
        ]
    },
    {
        "id": "2a721a8d80e04e4e82709e6150f5196a_982b2ee24d9a457bb9634b4c31f3a34a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985685412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985685404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985685420369.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985685437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985685447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985685427893.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 <c1,CAM_FRONT,839.2,672.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,1254.2,684.3>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,1335.8,358.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "2a721a8d80e04e4e82709e6150f5196a_982b2ee24d9a457bb9634b4c31f3a34a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985685412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985685404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985685420369.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985685437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985685447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985685427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,839.2,672.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "2a721a8d80e04e4e82709e6150f5196a_982b2ee24d9a457bb9634b4c31f3a34a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985685412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985685404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985685420369.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985685437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985685447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985685427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c3,CAM_FRONT,1335.8,358.5>? 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": "2a721a8d80e04e4e82709e6150f5196a_982b2ee24d9a457bb9634b4c31f3a34a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985685412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985685404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985685420369.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985685437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985685447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985685427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT,1335.8,358.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "2a721a8d80e04e4e82709e6150f5196a_982b2ee24d9a457bb9634b4c31f3a34a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985685412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985685404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985685420369.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985685437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985685447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985685427893.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": "2a721a8d80e04e4e82709e6150f5196a_982b2ee24d9a457bb9634b4c31f3a34a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985685412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985685404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985685420369.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985685437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985685447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985685427893.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": "8b60e7e47cde43e0a7fbd66d926de14f_d08937b3ec9f419aaecfc550352293d9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290168862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290168854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290168870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290168887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290168897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290168878113.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 with a hat to the back right of the ego vehicle, a black sedan car to the front left of the ego vehicle, a white sedan to the front of the ego vehicle, a black SUV to the front of the ego vehicle, and a white motorhome to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,483.3,560.8>, <c2,CAM_FRONT_LEFT,553.3,576.7>, <c3,CAM_FRONT,298.3,458.3>, <c4,CAM_FRONT,1347.7,534.8>, and <c5,CAM_FRONT_RIGHT,259.2,480.0>."
            }
        ]
    },
    {
        "id": "8b60e7e47cde43e0a7fbd66d926de14f_d08937b3ec9f419aaecfc550352293d9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290168862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290168854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290168870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290168887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290168897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290168878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,553.3,576.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8b60e7e47cde43e0a7fbd66d926de14f_d08937b3ec9f419aaecfc550352293d9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290168862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290168854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290168870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290168887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290168897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290168878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,483.3,560.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8b60e7e47cde43e0a7fbd66d926de14f_d08937b3ec9f419aaecfc550352293d9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290168862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290168854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290168870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290168887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290168897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290168878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,483.3,560.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "8b60e7e47cde43e0a7fbd66d926de14f_d08937b3ec9f419aaecfc550352293d9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290168862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290168854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290168870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290168887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290168897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290168878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,553.3,576.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "8b60e7e47cde43e0a7fbd66d926de14f_d08937b3ec9f419aaecfc550352293d9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290168862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290168854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290168870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290168887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290168897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290168878113.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, and brake gently to a stop."
            }
        ]
    },
    {
        "id": "8b60e7e47cde43e0a7fbd66d926de14f_d08937b3ec9f419aaecfc550352293d9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290168862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290168854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290168870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290168887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290168897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290168878113.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": "c24317a5c0cb4f5c9fd31740eb1152f2_05bf9b7509844fb098f9acc94d631c5f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202365262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202365254875.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202365270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202365287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202365297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202365277893.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 left of the ego vehicle, a black sedan to the back of the ego vehicle, and a white sedan car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1396.7,652.5>, <c2,CAM_BACK,755.0,502.5>, and <c3,CAM_FRONT,473.3,529.2>."
            }
        ]
    },
    {
        "id": "c24317a5c0cb4f5c9fd31740eb1152f2_05bf9b7509844fb098f9acc94d631c5f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202365262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202365254875.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202365270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202365287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202365297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202365277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,755.0,502.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c24317a5c0cb4f5c9fd31740eb1152f2_05bf9b7509844fb098f9acc94d631c5f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202365262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202365254875.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202365270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202365287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202365297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202365277893.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 <c1,CAM_FRONT_LEFT,1396.7,652.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c3,CAM_FRONT,473.3,529.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_BACK,755.0,502.5>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "c24317a5c0cb4f5c9fd31740eb1152f2_05bf9b7509844fb098f9acc94d631c5f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202365262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202365254875.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202365270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202365287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202365297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202365277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1396.7,652.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c24317a5c0cb4f5c9fd31740eb1152f2_05bf9b7509844fb098f9acc94d631c5f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202365262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202365254875.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202365270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202365287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202365297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202365277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1396.7,652.5>? 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": "c24317a5c0cb4f5c9fd31740eb1152f2_05bf9b7509844fb098f9acc94d631c5f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202365262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202365254875.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202365270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202365287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202365297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202365277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1396.7,652.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "c24317a5c0cb4f5c9fd31740eb1152f2_05bf9b7509844fb098f9acc94d631c5f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202365262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202365254875.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202365270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202365287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202365297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202365277893.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": "c24317a5c0cb4f5c9fd31740eb1152f2_05bf9b7509844fb098f9acc94d631c5f_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202365262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202365254875.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202365270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202365287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202365297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202365277893.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": "c24317a5c0cb4f5c9fd31740eb1152f2_b96247bf95f3404c805bde586478e510_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202359512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202359504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202359520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202359537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202359547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202359527926.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 of the ego vehicle, a black car to the front of the ego vehicle, a brown sedan to the front of the ego vehicle, and a pedestrian wearing black clothes to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,509.2,525.8>, <c2,CAM_FRONT,810.0,520.8>, <c3,CAM_FRONT,645.8,489.2>, and <c4,CAM_BACK_LEFT,1135.8,608.3>."
            }
        ]
    },
    {
        "id": "c24317a5c0cb4f5c9fd31740eb1152f2_b96247bf95f3404c805bde586478e510_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202359512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202359504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202359520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202359537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202359547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202359527926.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,810.0,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c24317a5c0cb4f5c9fd31740eb1152f2_b96247bf95f3404c805bde586478e510_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202359512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202359504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202359520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202359537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202359547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202359527926.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,509.2,525.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c24317a5c0cb4f5c9fd31740eb1152f2_b96247bf95f3404c805bde586478e510_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202359512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202359504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202359520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202359537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202359547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202359527926.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,509.2,525.8>? 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 has a high probability."
            }
        ]
    },
    {
        "id": "c24317a5c0cb4f5c9fd31740eb1152f2_b96247bf95f3404c805bde586478e510_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202359512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202359504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202359520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202359537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202359547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202359527926.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,509.2,525.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "c24317a5c0cb4f5c9fd31740eb1152f2_b96247bf95f3404c805bde586478e510_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202359512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202359504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202359520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202359537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202359547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202359527926.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, brake gently to a stop, and slightly offset to the right."
            }
        ]
    },
    {
        "id": "c24317a5c0cb4f5c9fd31740eb1152f2_b96247bf95f3404c805bde586478e510_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202359512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202359504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202359520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202359537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202359547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202359527926.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": "a1ca2ba59ac9452fb3da60019bf32c71_f552ec59c267469899b3472d6bd9bf1d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112396612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112396604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112396620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112396637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112396647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112396627893.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 van to the back right of the ego vehicle, a red bus to the front of the ego vehicle, and a pedestrian wearing gray clothes to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,695.8,637.5>, <c2,CAM_FRONT,560.8,465.8>, and <c3,CAM_FRONT,1389.2,522.5>."
            }
        ]
    },
    {
        "id": "a1ca2ba59ac9452fb3da60019bf32c71_f552ec59c267469899b3472d6bd9bf1d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112396612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112396604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112396620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112396637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112396647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112396627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,560.8,465.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "a1ca2ba59ac9452fb3da60019bf32c71_f552ec59c267469899b3472d6bd9bf1d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112396612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112396604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112396620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112396637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112396647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112396627893.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 <c1,CAM_BACK_RIGHT,695.8,637.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,560.8,465.8>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,1389.2,522.5>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "a1ca2ba59ac9452fb3da60019bf32c71_f552ec59c267469899b3472d6bd9bf1d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112396612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112396604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112396620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112396637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112396647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112396627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,695.8,637.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a1ca2ba59ac9452fb3da60019bf32c71_f552ec59c267469899b3472d6bd9bf1d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112396612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112396604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112396620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112396637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112396647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112396627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,695.8,637.5>? 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": "a1ca2ba59ac9452fb3da60019bf32c71_f552ec59c267469899b3472d6bd9bf1d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112396612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112396604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112396620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112396637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112396647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112396627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,560.8,465.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "a1ca2ba59ac9452fb3da60019bf32c71_f552ec59c267469899b3472d6bd9bf1d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112396612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112396604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112396620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112396637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112396647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112396627893.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 brake gently to a stop."
            }
        ]
    },
    {
        "id": "a1ca2ba59ac9452fb3da60019bf32c71_f552ec59c267469899b3472d6bd9bf1d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112396612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112396604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112396620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112396637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112396647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112396627893.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": "3289046b886f4c98a676bd7e6a3c6ef1_df3cc472b1a3482eb4bf22170600bfcc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297466762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297466754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297466770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297466787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297466797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297466778113.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 back of the ego vehicle, a black car to the front of the ego vehicle, a white pickup truck to the back of the ego vehicle, a pedestrian with an umbrella to the front of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1212.5,453.3>, <c2,CAM_FRONT,801.7,482.5>, <c3,CAM_BACK,590.0,476.7>, <c4,CAM_FRONT,1346.7,485.8>, and <c5,CAM_FRONT,921.7,483.3>."
            }
        ]
    },
    {
        "id": "3289046b886f4c98a676bd7e6a3c6ef1_df3cc472b1a3482eb4bf22170600bfcc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297466762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297466754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297466770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297466787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297466797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297466778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,801.7,482.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3289046b886f4c98a676bd7e6a3c6ef1_df3cc472b1a3482eb4bf22170600bfcc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297466762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297466754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297466770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297466787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297466797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297466778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1212.5,453.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3289046b886f4c98a676bd7e6a3c6ef1_df3cc472b1a3482eb4bf22170600bfcc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297466762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297466754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297466770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297466787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297466797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297466778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1212.5,453.3>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "3289046b886f4c98a676bd7e6a3c6ef1_df3cc472b1a3482eb4bf22170600bfcc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297466762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297466754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297466770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297466787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297466797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297466778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,801.7,482.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "3289046b886f4c98a676bd7e6a3c6ef1_df3cc472b1a3482eb4bf22170600bfcc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297466762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297466754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297466770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297466787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297466797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297466778113.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": "3289046b886f4c98a676bd7e6a3c6ef1_df3cc472b1a3482eb4bf22170600bfcc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297466762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297466754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297466770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297466787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297466797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297466778113.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": "3289046b886f4c98a676bd7e6a3c6ef1_7eb4e6eedcf74faba2949b321883cd19_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297459862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297459854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297459870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297459887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297459897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297459878113.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 back of the ego vehicle, a black SUV to the back right of the ego vehicle, a black SUV to the front of the ego vehicle, a white commercial vehicle to the back of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1011.7,468.3>, <c2,CAM_BACK_RIGHT,758.3,526.7>, <c3,CAM_FRONT,754.2,491.7>, <c4,CAM_BACK,280.8,521.7>, and <c5,CAM_FRONT,882.5,485.0>."
            }
        ]
    },
    {
        "id": "3289046b886f4c98a676bd7e6a3c6ef1_7eb4e6eedcf74faba2949b321883cd19_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297459862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297459854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297459870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297459887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297459897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297459878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1011.7,468.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3289046b886f4c98a676bd7e6a3c6ef1_7eb4e6eedcf74faba2949b321883cd19_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297459862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297459854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297459870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297459887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297459897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297459878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1011.7,468.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3289046b886f4c98a676bd7e6a3c6ef1_7eb4e6eedcf74faba2949b321883cd19_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297459862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297459854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297459870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297459887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297459897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297459878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1011.7,468.3>? 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": "3289046b886f4c98a676bd7e6a3c6ef1_7eb4e6eedcf74faba2949b321883cd19_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297459862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297459854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297459870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297459887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297459897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297459878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1011.7,468.3>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "3289046b886f4c98a676bd7e6a3c6ef1_7eb4e6eedcf74faba2949b321883cd19_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297459862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297459854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297459870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297459887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297459897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297459878113.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "3289046b886f4c98a676bd7e6a3c6ef1_7eb4e6eedcf74faba2949b321883cd19_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297459862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297459854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297459870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297459887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297459897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297459878113.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": "cffc45a1565446fab5014afb3da169e8_d7bf10b25dab4b2c9ab8f859c0d0a399_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583335162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583335154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583335170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583335187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583335197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583335178113.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 black sedan to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,461.7,529.2>, <c2,CAM_FRONT,700.1,500.2>, and <c3,CAM_FRONT,904.7,482.0>."
            }
        ]
    },
    {
        "id": "cffc45a1565446fab5014afb3da169e8_d7bf10b25dab4b2c9ab8f859c0d0a399_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583335162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583335154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583335170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583335187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583335197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583335178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,461.7,529.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cffc45a1565446fab5014afb3da169e8_d7bf10b25dab4b2c9ab8f859c0d0a399_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583335162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583335154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583335170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583335187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583335197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583335178113.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 <c1,CAM_FRONT,461.7,529.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,700.1,500.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,904.7,482.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "cffc45a1565446fab5014afb3da169e8_d7bf10b25dab4b2c9ab8f859c0d0a399_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583335162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583335154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583335170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583335187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583335197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583335178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,461.7,529.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cffc45a1565446fab5014afb3da169e8_d7bf10b25dab4b2c9ab8f859c0d0a399_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583335162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583335154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583335170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583335187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583335197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583335178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,461.7,529.2>? 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": "cffc45a1565446fab5014afb3da169e8_d7bf10b25dab4b2c9ab8f859c0d0a399_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583335162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583335154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583335170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583335187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583335197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583335178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,461.7,529.2>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "cffc45a1565446fab5014afb3da169e8_d7bf10b25dab4b2c9ab8f859c0d0a399_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583335162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583335154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583335170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583335187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583335197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583335178113.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": "cffc45a1565446fab5014afb3da169e8_d7bf10b25dab4b2c9ab8f859c0d0a399_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583335162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583335154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583335170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583335187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583335197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583335178113.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": "cffc45a1565446fab5014afb3da169e8_c7482f06d9c14392910ac7f685fac9be_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583326662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583326654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583326670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583326687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583326697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583326678113.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 truck to the front right of the ego vehicle, and a yellow pedestrian sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,655.8,412.2>, <c2,CAM_FRONT_RIGHT,551.0,426.7>, and <c3,CAM_FRONT,1273.6,369.1>."
            }
        ]
    },
    {
        "id": "cffc45a1565446fab5014afb3da169e8_c7482f06d9c14392910ac7f685fac9be_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583326662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583326654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583326670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583326687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583326697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583326678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,655.8,412.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "cffc45a1565446fab5014afb3da169e8_c7482f06d9c14392910ac7f685fac9be_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583326662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583326654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583326670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583326687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583326697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583326678113.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 <c2,CAM_FRONT_RIGHT,551.0,426.7>. The object is stationary, so the ego vehicle should slightly offset to the left while maneuvering. Secondly, notice that <c3,CAM_FRONT,1273.6,369.1>. The object is a traffic sign, so the ego vehicle should slow down and proceed. Thirdly, notice that <c1,CAM_FRONT,655.8,412.2>. The object is turning left, so the ego vehicle should slow down and proceed."
            }
        ]
    },
    {
        "id": "cffc45a1565446fab5014afb3da169e8_c7482f06d9c14392910ac7f685fac9be_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583326662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583326654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583326670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583326687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583326697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583326678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,655.8,412.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cffc45a1565446fab5014afb3da169e8_c7482f06d9c14392910ac7f685fac9be_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583326662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583326654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583326670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583326687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583326697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583326678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,655.8,412.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to decelerate gradually without braking. The reason is to maintain a safe distance, which is high."
            }
        ]
    },
    {
        "id": "cffc45a1565446fab5014afb3da169e8_c7482f06d9c14392910ac7f685fac9be_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583326662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583326654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583326670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583326687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583326697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583326678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,655.8,412.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "cffc45a1565446fab5014afb3da169e8_c7482f06d9c14392910ac7f685fac9be_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583326662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583326654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583326670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583326687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583326697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583326678113.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": "cffc45a1565446fab5014afb3da169e8_c7482f06d9c14392910ac7f685fac9be_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583326662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583326654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583326670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583326687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583326697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583326678113.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": "0c12123d57594f4d81d32fd4aa89fb1f_53e48b025a7f4cf894756923f9edff8d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659109412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659109404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659109420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659109437560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659109447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659109428113.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 sedan 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 <c1,CAM_BACK,887.5,520.8>, <c2,CAM_FRONT,860.8,479.2>, and <c3,CAM_FRONT_RIGHT,116.4,671.8>."
            }
        ]
    },
    {
        "id": "0c12123d57594f4d81d32fd4aa89fb1f_53e48b025a7f4cf894756923f9edff8d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659109412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659109404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659109420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659109437560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659109447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659109428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,887.5,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "0c12123d57594f4d81d32fd4aa89fb1f_53e48b025a7f4cf894756923f9edff8d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659109412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659109404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659109420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659109437560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659109447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659109428113.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 <c3,CAM_FRONT_RIGHT,116.4,671.8>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c1,CAM_BACK,887.5,520.8>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT,860.8,479.2>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "0c12123d57594f4d81d32fd4aa89fb1f_53e48b025a7f4cf894756923f9edff8d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659109412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659109404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659109420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659109437560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659109447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659109428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,887.5,520.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0c12123d57594f4d81d32fd4aa89fb1f_53e48b025a7f4cf894756923f9edff8d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659109412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659109404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659109420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659109437560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659109447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659109428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,887.5,520.8>? 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": "0c12123d57594f4d81d32fd4aa89fb1f_53e48b025a7f4cf894756923f9edff8d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659109412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659109404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659109420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659109437560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659109447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659109428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,887.5,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "0c12123d57594f4d81d32fd4aa89fb1f_53e48b025a7f4cf894756923f9edff8d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659109412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659109404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659109420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659109437560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659109447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659109428113.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": "0c12123d57594f4d81d32fd4aa89fb1f_53e48b025a7f4cf894756923f9edff8d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659109412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659109404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659109420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659109437560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659109447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659109428113.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": "0c12123d57594f4d81d32fd4aa89fb1f_4ffa42f71f3b425da4fa89afe2c60046_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659117912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659117904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659117920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659117937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659117947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659117928113.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 car to the back of the ego vehicle, a uncertain to the front of the ego vehicle, and a blue sedan car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,868.3,630.8>, <c2,CAM_FRONT,896.7,473.3>, and <c3,CAM_FRONT,946.7,478.3>."
            }
        ]
    },
    {
        "id": "0c12123d57594f4d81d32fd4aa89fb1f_4ffa42f71f3b425da4fa89afe2c60046_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659117912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659117904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659117920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659117937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659117947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659117928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,868.3,630.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "0c12123d57594f4d81d32fd4aa89fb1f_4ffa42f71f3b425da4fa89afe2c60046_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659117912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659117904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659117920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659117937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659117947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659117928113.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 <c3,CAM_FRONT,946.7,478.3>. The object is stationary, so the ego vehicle should accelerate and go ahead. Secondly, notice that <c2,CAM_FRONT,896.7,473.3>. The object is stationary, so the ego vehicle should accelerate and go ahead. Thirdly, notice that <c1,CAM_BACK,868.3,630.8>. The object is going ahead, so the ego vehicle should accelerate and go ahead."
            }
        ]
    },
    {
        "id": "0c12123d57594f4d81d32fd4aa89fb1f_4ffa42f71f3b425da4fa89afe2c60046_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659117912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659117904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659117920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659117937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659117947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659117928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,868.3,630.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0c12123d57594f4d81d32fd4aa89fb1f_4ffa42f71f3b425da4fa89afe2c60046_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659117912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659117904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659117920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659117937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659117947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659117928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,868.3,630.8>? 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": "0c12123d57594f4d81d32fd4aa89fb1f_4ffa42f71f3b425da4fa89afe2c60046_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659117912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659117904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659117920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659117937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659117947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659117928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,868.3,630.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "0c12123d57594f4d81d32fd4aa89fb1f_4ffa42f71f3b425da4fa89afe2c60046_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659117912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659117904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659117920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659117937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659117947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659117928113.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": "0c12123d57594f4d81d32fd4aa89fb1f_4ffa42f71f3b425da4fa89afe2c60046_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659117912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659117904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659117920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659117937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659117947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659117928113.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": "89f20737ec344aa48b543a9e005a38ca_626f6ba092844742ac3447b69eb0fe72_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801610662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801610654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801610670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801610687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801610697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801610677893.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 taxi to the front of the ego vehicle, a cannot see clearly to the front of the ego vehicle, and a unclear to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1426.7,512.5>, <c2,CAM_FRONT,615.0,492.5>, and <c3,CAM_FRONT,775.8,508.3>."
            }
        ]
    },
    {
        "id": "89f20737ec344aa48b543a9e005a38ca_626f6ba092844742ac3447b69eb0fe72_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801610662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801610654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801610670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801610687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801610697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801610677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1426.7,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "89f20737ec344aa48b543a9e005a38ca_626f6ba092844742ac3447b69eb0fe72_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801610662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801610654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801610670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801610687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801610697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801610677893.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 <c1,CAM_FRONT,1426.7,512.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c2,CAM_FRONT,615.0,492.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c3,CAM_FRONT,775.8,508.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "89f20737ec344aa48b543a9e005a38ca_626f6ba092844742ac3447b69eb0fe72_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801610662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801610654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801610670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801610687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801610697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801610677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1426.7,512.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "89f20737ec344aa48b543a9e005a38ca_626f6ba092844742ac3447b69eb0fe72_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801610662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801610654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801610670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801610687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801610697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801610677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1426.7,512.5>? 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": "89f20737ec344aa48b543a9e005a38ca_626f6ba092844742ac3447b69eb0fe72_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801610662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801610654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801610670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801610687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801610697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801610677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1426.7,512.5>?"
            },
            {
                "from": "gpt",
                "value": "No actions taken by the ego vehicle will lead to a collision with <c1, CAM_FRONT, 1426.7, 512.5>."
            }
        ]
    },
    {
        "id": "89f20737ec344aa48b543a9e005a38ca_626f6ba092844742ac3447b69eb0fe72_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801610662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801610654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801610670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801610687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801610697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801610677893.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": "89f20737ec344aa48b543a9e005a38ca_626f6ba092844742ac3447b69eb0fe72_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801610662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801610654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801610670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801610687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801610697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801610677893.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": "2121cc12888e47ce856dc5391f202594_f14f9107854149c99f024a4863831970_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202687112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202687104851.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202687120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202687137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202687147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202687127893.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 on the roadside to the front of the ego vehicle, a yellow traffic sign to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, a pedestrian crossing the road to the front right of the ego vehicle, a red car to the front of the ego vehicle, and a green truck to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,605.0,591.7>, <c2,CAM_FRONT,560.0,674.2>, <c3,CAM_BACK,747.5,633.3>, <c4,CAM_FRONT_RIGHT,430.0,570.8>, <c5,CAM_FRONT,976.7,523.3>, and <c6,CAM_BACK_LEFT,821.7,452.5>."
            }
        ]
    },
    {
        "id": "2121cc12888e47ce856dc5391f202594_f14f9107854149c99f024a4863831970_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202687112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202687104851.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202687120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202687137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202687147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202687127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_FRONT_RIGHT,430.0,570.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2121cc12888e47ce856dc5391f202594_f14f9107854149c99f024a4863831970_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202687112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202687104851.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202687120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202687137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202687147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202687127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,605.0,591.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2121cc12888e47ce856dc5391f202594_f14f9107854149c99f024a4863831970_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202687112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202687104851.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202687120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202687137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202687147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202687127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,605.0,591.7>? 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 this action is high."
            }
        ]
    },
    {
        "id": "2121cc12888e47ce856dc5391f202594_f14f9107854149c99f024a4863831970_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202687112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202687104851.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202687120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202687137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202687147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202687127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,605.0,591.7>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "2121cc12888e47ce856dc5391f202594_f14f9107854149c99f024a4863831970_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202687112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202687104851.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202687120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202687137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202687147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202687127893.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 come to a stop."
            }
        ]
    },
    {
        "id": "2121cc12888e47ce856dc5391f202594_f14f9107854149c99f024a4863831970_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202687112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202687104851.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202687120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202687137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202687147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202687127893.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": "f9e460f092c94466b1211704b5a8859d_56aaa8300c6e40ee9667eba765c54a09_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107663012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107663004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107663020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107663037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107663047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107663027893.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 dark blue SUV to the front of the ego vehicle, a gray sedan to the front right of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,850.8,537.5>, <c2,CAM_FRONT_RIGHT,1223.3,556.7>, and <c3,CAM_BACK,897.5,585.8>."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_56aaa8300c6e40ee9667eba765c54a09_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107663012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107663004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107663020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107663037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107663047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107663027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,850.8,537.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_56aaa8300c6e40ee9667eba765c54a09_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107663012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107663004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107663020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107663037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107663047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107663027893.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 <c1,CAM_FRONT,850.8,537.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT_RIGHT,1223.3,556.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,897.5,585.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_56aaa8300c6e40ee9667eba765c54a09_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107663012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107663004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107663020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107663037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107663047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107663027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,850.8,537.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_56aaa8300c6e40ee9667eba765c54a09_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107663012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107663004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107663020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107663037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107663047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107663027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,850.8,537.5>? 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": "f9e460f092c94466b1211704b5a8859d_56aaa8300c6e40ee9667eba765c54a09_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107663012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107663004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107663020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107663037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107663047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107663027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,850.8,537.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_56aaa8300c6e40ee9667eba765c54a09_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107663012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107663004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107663020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107663037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107663047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107663027893.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": "f9e460f092c94466b1211704b5a8859d_56aaa8300c6e40ee9667eba765c54a09_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107663012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107663004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107663020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107663037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107663047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107663027893.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 slowly."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_14ac9c6105c84759a09bbb8804f4291a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107669012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107669004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107669020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107669037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107669047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107669027893.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 back of the ego vehicle, a white traffic sign to the front of the ego vehicle, and a blue sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,463.3,576.7>, <c2,CAM_FRONT,928.9,667.8>, and <c3,CAM_FRONT,906.1,491.8>."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_14ac9c6105c84759a09bbb8804f4291a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107669012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107669004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107669020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107669037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107669047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107669027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,463.3,576.7>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_14ac9c6105c84759a09bbb8804f4291a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107669012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107669004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107669020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107669037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107669047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107669027893.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 <c2,CAM_FRONT,928.9,667.8>; the object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly notice that <c3,CAM_FRONT,906.1,491.8>; the object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly notice that <c1,CAM_BACK,463.3,576.7>; the object is turning right, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_14ac9c6105c84759a09bbb8804f4291a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107669012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107669004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107669020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107669037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107669047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107669027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,463.3,576.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_14ac9c6105c84759a09bbb8804f4291a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107669012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107669004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107669020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107669037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107669047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107669027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,463.3,576.7>? 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": "f9e460f092c94466b1211704b5a8859d_14ac9c6105c84759a09bbb8804f4291a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107669012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107669004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107669020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107669037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107669047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107669027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,463.3,576.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_14ac9c6105c84759a09bbb8804f4291a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107669012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107669004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107669020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107669037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107669047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107669027893.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": "f9e460f092c94466b1211704b5a8859d_14ac9c6105c84759a09bbb8804f4291a_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107669012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107669004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107669020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107669037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107669047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107669027893.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": "f9e460f092c94466b1211704b5a8859d_64fdcad3ecca43db8b59ff82860fab1b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107672012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107672004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107672020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107672037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107672047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107672027893.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 front of the ego vehicle, a white sedan to the back of the ego vehicle, and a straight turn left turn right to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,785.0,500.8>, <c2,CAM_BACK,853.3,523.3>, and <c3,CAM_FRONT,792.2,576.4>."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_64fdcad3ecca43db8b59ff82860fab1b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107672012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107672004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107672020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107672037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107672047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107672027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,785.0,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_64fdcad3ecca43db8b59ff82860fab1b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107672012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107672004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107672020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107672037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107672047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107672027893.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 <c3,CAM_FRONT,792.2,576.4>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,785.0,500.8>. The object is turning left, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,853.3,523.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_64fdcad3ecca43db8b59ff82860fab1b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107672012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107672004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107672020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107672037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107672047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107672027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,785.0,500.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_64fdcad3ecca43db8b59ff82860fab1b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107672012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107672004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107672020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107672037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107672047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107672027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,785.0,500.8>? 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": "f9e460f092c94466b1211704b5a8859d_64fdcad3ecca43db8b59ff82860fab1b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107672012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107672004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107672020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107672037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107672047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107672027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,785.0,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,785.0,500.8>."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_64fdcad3ecca43db8b59ff82860fab1b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107672012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107672004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107672020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107672037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107672047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107672027893.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": "f9e460f092c94466b1211704b5a8859d_64fdcad3ecca43db8b59ff82860fab1b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107672012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107672004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107672020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107672037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107672047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107672027893.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": "f9e460f092c94466b1211704b5a8859d_04147507f33e495f912cb64a60bb3f0d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107668012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107668004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107668020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107668037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107668047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107668027893.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 car to the front of the ego vehicle, a white SUV to the back of the ego vehicle, and a white arrow pointing left, straight, and right to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1303.3,503.3>, <c2,CAM_BACK,226.6,615.8>, and <c3,CAM_FRONT,1298.0,637.1>."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_04147507f33e495f912cb64a60bb3f0d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107668012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107668004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107668020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107668037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107668047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107668027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1303.3,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_04147507f33e495f912cb64a60bb3f0d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107668012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107668004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107668020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107668037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107668047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107668027893.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 <c3,CAM_FRONT,1298.0,637.1>, which is a traffic sign. The ego vehicle should continue going ahead at the same speed. Secondly notice <c1,CAM_FRONT,1303.3,503.3>, which is going ahead. The ego vehicle should continue going ahead at the same speed. Thirdly notice <c2,CAM_BACK,226.6,615.8>, which is also going ahead. The ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_04147507f33e495f912cb64a60bb3f0d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107668012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107668004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107668020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107668037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107668047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107668027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1303.3,503.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_04147507f33e495f912cb64a60bb3f0d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107668012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107668004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107668020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107668037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107668047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107668027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1303.3,503.3>? 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": "f9e460f092c94466b1211704b5a8859d_04147507f33e495f912cb64a60bb3f0d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107668012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107668004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107668020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107668037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107668047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107668027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1303.3,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,1303.3,503.3>."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_04147507f33e495f912cb64a60bb3f0d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107668012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107668004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107668020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107668037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107668047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107668027893.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, or decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_04147507f33e495f912cb64a60bb3f0d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107668012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107668004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107668020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107668037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107668047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107668027893.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": "f9e460f092c94466b1211704b5a8859d_4ebc2b692a244fb991436fde83519b7e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.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 front of the ego vehicle, a white SUV to the back of the ego vehicle, and a parking sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,613.3,491.7>, <c2,CAM_BACK,808.3,522.5>, and <c3,CAM_FRONT,643.3,471.4>."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_4ebc2b692a244fb991436fde83519b7e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,613.3,491.7>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_4ebc2b692a244fb991436fde83519b7e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.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 <c3,CAM_FRONT,643.3,471.4>; the object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly notice that <c1,CAM_FRONT,613.3,491.7>; the object is turning left, so the ego vehicle should continue ahead at the same speed. Thirdly notice that <c2,CAM_BACK,808.3,522.5>; the object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_4ebc2b692a244fb991436fde83519b7e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,613.3,491.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_4ebc2b692a244fb991436fde83519b7e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,613.3,491.7>? 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": "f9e460f092c94466b1211704b5a8859d_4ebc2b692a244fb991436fde83519b7e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,613.3,491.7>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT,613.3,491.7>."
            }
        ]
    },
    {
        "id": "f9e460f092c94466b1211704b5a8859d_4ebc2b692a244fb991436fde83519b7e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.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": "f9e460f092c94466b1211704b5a8859d_4ebc2b692a244fb991436fde83519b7e_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.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": "2e3c0f308fcf4664bf7994053d7080b9_66202485ba6f4fd49162cb227c92a1d3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622004512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622004504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622004520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622004537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622004547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622004528113.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 construction vehicle to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,966.7,490.0>, <c2,CAM_BACK,875.8,490.0>, and <c3,CAM_FRONT,1517.5,631.7>."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_66202485ba6f4fd49162cb227c92a1d3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622004512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622004504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622004520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622004537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622004547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622004528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,875.8,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_66202485ba6f4fd49162cb227c92a1d3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622004512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622004504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622004520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622004537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622004547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622004528113.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 <c3,CAM_FRONT,1517.5,631.7>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,966.7,490.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,875.8,490.0>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_66202485ba6f4fd49162cb227c92a1d3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622004512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622004504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622004520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622004537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622004547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622004528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,966.7,490.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_66202485ba6f4fd49162cb227c92a1d3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622004512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622004504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622004520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622004537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622004547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622004528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,966.7,490.0>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_66202485ba6f4fd49162cb227c92a1d3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622004512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622004504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622004520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622004537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622004547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622004528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,966.7,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_66202485ba6f4fd49162cb227c92a1d3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622004512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622004504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622004520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622004537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622004547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622004528113.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": "2e3c0f308fcf4664bf7994053d7080b9_66202485ba6f4fd49162cb227c92a1d3_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622004512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622004504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622004520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622004537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622004547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622004528113.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": "2e3c0f308fcf4664bf7994053d7080b9_a836f9819fed473189e13551ce393bd9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.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, an orange construction vehicle to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a worker wearing fluorescent clothing to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,923.3,515.0>, <c2,CAM_FRONT,1124.2,480.8>, <c3,CAM_BACK,836.7,502.5>, and <c4,CAM_FRONT_RIGHT,438.3,541.7>."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_a836f9819fed473189e13551ce393bd9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,923.3,515.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_a836f9819fed473189e13551ce393bd9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,923.3,515.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_a836f9819fed473189e13551ce393bd9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,923.3,515.0>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_a836f9819fed473189e13551ce393bd9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,923.3,515.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_a836f9819fed473189e13551ce393bd9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.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": "2e3c0f308fcf4664bf7994053d7080b9_a836f9819fed473189e13551ce393bd9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.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": "2e3c0f308fcf4664bf7994053d7080b9_0faf5a3217e94dc692236b335883cf62_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622000012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622000004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622000020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622000037569.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622000047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622000028113.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 sedan to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a black pickup truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,831.7,490.8>, <c2,CAM_FRONT,991.7,510.0>, <c3,CAM_FRONT,349.2,534.2>, and <c4,CAM_BACK,263.5,625.9>."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_0faf5a3217e94dc692236b335883cf62_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622000012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622000004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622000020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622000037569.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622000047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622000028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,831.7,490.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_0faf5a3217e94dc692236b335883cf62_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622000012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622000004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622000020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622000037569.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622000047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622000028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,831.7,490.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_0faf5a3217e94dc692236b335883cf62_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622000012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622000004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622000020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622000037569.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622000047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622000028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,831.7,490.8>? 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": "2e3c0f308fcf4664bf7994053d7080b9_0faf5a3217e94dc692236b335883cf62_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622000012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622000004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622000020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622000037569.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622000047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622000028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,831.7,490.8>?"
            },
            {
                "from": "gpt",
                "value": "None."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_0faf5a3217e94dc692236b335883cf62_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622000012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622000004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622000020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622000037569.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622000047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622000028113.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 ahead."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_0faf5a3217e94dc692236b335883cf62_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622000012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622000004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622000020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622000037569.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622000047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622000028113.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": "2e3c0f308fcf4664bf7994053d7080b9_ec1ede533a5b43469669bc28ceb969eb_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621996012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621996004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621996020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621996037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621996047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621996028113.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 left of the ego vehicle, a black sedan to the front of the ego vehicle, a black SUV to the front of the ego vehicle, and a black SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,876.7,601.7>, <c2,CAM_FRONT,885.0,510.8>, <c3,CAM_FRONT,613.3,520.0>, and <c4,CAM_FRONT_RIGHT,168.7,610.9>."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_ec1ede533a5b43469669bc28ceb969eb_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621996012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621996004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621996020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621996037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621996047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621996028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,876.7,601.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_ec1ede533a5b43469669bc28ceb969eb_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621996012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621996004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621996020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621996037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621996047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621996028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,876.7,601.7>? 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": "2e3c0f308fcf4664bf7994053d7080b9_ec1ede533a5b43469669bc28ceb969eb_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621996012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621996004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621996020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621996037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621996047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621996028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,876.7,601.7>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_ec1ede533a5b43469669bc28ceb969eb_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621996012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621996004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621996020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621996037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621996047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621996028113.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."
            }
        ]
    },
    {
        "id": "2e3c0f308fcf4664bf7994053d7080b9_ec1ede533a5b43469669bc28ceb969eb_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621996012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621996004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621996020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621996037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621996047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621996028113.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": "8b43539a55374b6c8ed60c95a42d63a2_1adcd3266749425cb6d5cebc00984441_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402477262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402477254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402477270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402477287673.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402477297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402477277893.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 pedestrian to the front of the ego vehicle, a white truck to the front of the ego vehicle, a white van to the front right of the ego vehicle, and a speedometer to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,267.9,478.3>, <c2,CAM_FRONT,1127.5,544.2>, <c3,CAM_FRONT,708.3,510.0>, <c4,CAM_FRONT_RIGHT,1102.9,655.8>, and <c5,CAM_FRONT_LEFT,905.8,510.8>."
            }
        ]
    },
    {
        "id": "8b43539a55374b6c8ed60c95a42d63a2_1adcd3266749425cb6d5cebc00984441_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402477262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402477254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402477270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402477287673.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402477297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402477277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_FRONT_RIGHT,1102.9,655.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8b43539a55374b6c8ed60c95a42d63a2_1adcd3266749425cb6d5cebc00984441_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402477262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402477254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402477270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402477287673.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402477297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402477277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,267.9,478.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8b43539a55374b6c8ed60c95a42d63a2_1adcd3266749425cb6d5cebc00984441_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402477262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402477254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402477270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402477287673.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402477297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402477277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,267.9,478.3>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "8b43539a55374b6c8ed60c95a42d63a2_1adcd3266749425cb6d5cebc00984441_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402477262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402477254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402477270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402477287673.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402477297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402477277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,267.9,478.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "8b43539a55374b6c8ed60c95a42d63a2_1adcd3266749425cb6d5cebc00984441_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402477262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402477254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402477270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402477287673.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402477297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402477277893.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": "8b43539a55374b6c8ed60c95a42d63a2_1adcd3266749425cb6d5cebc00984441_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402477262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402477254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402477270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402477287673.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402477297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402477277893.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": "8b43539a55374b6c8ed60c95a42d63a2_7c3d2578720841a28120b69bf76609df_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402475762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402475755288.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402475770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402475787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402475797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402475777893.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 truck to the front of the ego vehicle, and a pedestrian traffic light to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,843.3,570.8>, <c2,CAM_FRONT,67.3,497.5>, and <c3,CAM_FRONT_RIGHT,426.4,478.4>."
            }
        ]
    },
    {
        "id": "8b43539a55374b6c8ed60c95a42d63a2_7c3d2578720841a28120b69bf76609df_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402475762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402475755288.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402475770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402475787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402475797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402475777893.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 <c3,CAM_FRONT_RIGHT,426.4,478.4>. The object is a traffic sign, so the ego vehicle should slow down and proceed. Secondly, notice <c1,CAM_FRONT,843.3,570.8>. The object is moving forward, so the ego vehicle should turn left. Thirdly, notice <c2,CAM_FRONT,67.3,497.5>. The object is stationary, so the ego vehicle should make a slight right adjustment."
            }
        ]
    },
    {
        "id": "8b43539a55374b6c8ed60c95a42d63a2_7c3d2578720841a28120b69bf76609df_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402475762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402475755288.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402475770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402475787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402475797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402475777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,843.3,570.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8b43539a55374b6c8ed60c95a42d63a2_7c3d2578720841a28120b69bf76609df_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402475762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402475755288.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402475770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402475787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402475797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402475777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,843.3,570.8>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "8b43539a55374b6c8ed60c95a42d63a2_7c3d2578720841a28120b69bf76609df_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402475762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402475755288.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402475770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402475787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402475797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402475777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,843.3,570.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,843.3,570.8>."
            }
        ]
    },
    {
        "id": "8b43539a55374b6c8ed60c95a42d63a2_7c3d2578720841a28120b69bf76609df_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402475762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402475755288.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402475770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402475787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402475797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402475777893.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": "8b43539a55374b6c8ed60c95a42d63a2_7c3d2578720841a28120b69bf76609df_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402475762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402475755288.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402475770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402475787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402475797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402475777893.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 fast."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_348064aa35124ca080e3d52057f13005_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.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 traffic cone to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, a red and white traffic cone to the front right of the ego vehicle, a red and white traffic cone to the front left of the ego vehicle, and a worker wearing a yellow helmet to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,615.8,642.5>, <c2,CAM_BACK,517.0,610.8>, <c3,CAM_FRONT_RIGHT,105.8,616.7>, <c4,CAM_FRONT_LEFT,1098.3,602.5>, and <c5,CAM_FRONT,958.3,460.0>."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_348064aa35124ca080e3d52057f13005_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,517.0,610.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_348064aa35124ca080e3d52057f13005_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,615.8,642.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_348064aa35124ca080e3d52057f13005_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_BACK,517.0,610.8>? 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": "209e9e9c3a2e4a399c44b6aa8be659d6_348064aa35124ca080e3d52057f13005_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,517.0,610.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_348064aa35124ca080e3d52057f13005_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.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, turn left, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_348064aa35124ca080e3d52057f13005_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.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": "209e9e9c3a2e4a399c44b6aa8be659d6_89c35429dc45474ab1ed05d48d7f1631_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931879762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931879754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931879770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931879787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931879797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931879777893.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 of the ego vehicle, a black sedan to the front of the ego vehicle, an orange and white triangular bucket to the front right of the ego vehicle, and a pedestrian wearing a yellow vest and black pants to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1467.4,516.7>, <c2,CAM_FRONT,734.2,505.8>, <c3,CAM_FRONT_RIGHT,222.5,875.8>, and <c4,CAM_FRONT_RIGHT,1405.0,585.0>."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_89c35429dc45474ab1ed05d48d7f1631_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931879762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931879754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931879770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931879787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931879797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931879777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,734.2,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_89c35429dc45474ab1ed05d48d7f1631_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931879762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931879754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931879770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931879787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931879797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931879777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1467.4,516.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_89c35429dc45474ab1ed05d48d7f1631_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931879762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931879754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931879770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931879787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931879797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931879777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1467.4,516.7>? 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": "209e9e9c3a2e4a399c44b6aa8be659d6_89c35429dc45474ab1ed05d48d7f1631_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931879762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931879754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931879770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931879787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931879797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931879777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,734.2,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_89c35429dc45474ab1ed05d48d7f1631_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931879762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931879754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931879770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931879787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931879797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931879777893.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, or slightly offset to the left."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_89c35429dc45474ab1ed05d48d7f1631_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931879762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931879754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931879770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931879787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931879797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931879777893.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": "209e9e9c3a2e4a399c44b6aa8be659d6_cbf0ba7ad56c4bba828b6208d1ec4809_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931870421060.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931870427893.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 detour, please to the front left of the ego vehicle, and a black pants pedestrian to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1355.8,494.2>, <c2,CAM_FRONT_LEFT,1409.2,649.2>, and <c3,CAM_FRONT_RIGHT,995.8,561.7>."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_cbf0ba7ad56c4bba828b6208d1ec4809_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931870421060.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931870427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1355.8,494.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_cbf0ba7ad56c4bba828b6208d1ec4809_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931870421060.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931870427893.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 <c2,CAM_FRONT_LEFT,1409.2,649.2>. The object is a traffic sign, so the ego vehicle should remain stationary. Secondly, notice that <c3,CAM_FRONT_RIGHT,995.8,561.7>. The object is going ahead, so the ego vehicle should remain stationary. Thirdly, notice that <c1,CAM_BACK,1355.8,494.2>. The object is turning right, so the ego vehicle should remain stationary."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_cbf0ba7ad56c4bba828b6208d1ec4809_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931870421060.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931870427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1355.8,494.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_cbf0ba7ad56c4bba828b6208d1ec4809_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931870421060.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931870427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1355.8,494.2>? 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": "209e9e9c3a2e4a399c44b6aa8be659d6_cbf0ba7ad56c4bba828b6208d1ec4809_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931870421060.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931870427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1355.8,494.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_cbf0ba7ad56c4bba828b6208d1ec4809_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931870421060.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931870427893.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": "209e9e9c3a2e4a399c44b6aa8be659d6_cbf0ba7ad56c4bba828b6208d1ec4809_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931870421060.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931870427893.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": "209e9e9c3a2e4a399c44b6aa8be659d6_4d737c92e9f14f86b7ee3988066bf13d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931875162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931875154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931875170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931875187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931875197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931875177893.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 cone bucket to the back right of the ego vehicle, a cone bucket to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, and a pedestrian to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1263.3,672.5>, <c2,CAM_FRONT,624.2,832.5>, <c3,CAM_BACK,1463.8,549.2>, and <c4,CAM_FRONT_RIGHT,403.3,550.8>."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_4d737c92e9f14f86b7ee3988066bf13d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931875162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931875154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931875170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931875187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931875197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931875177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_FRONT_RIGHT,403.3,550.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_4d737c92e9f14f86b7ee3988066bf13d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931875162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931875154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931875170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931875187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931875197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931875177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1263.3,672.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_4d737c92e9f14f86b7ee3988066bf13d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931875162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931875154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931875170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931875187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931875197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931875177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c3,CAM_BACK,1463.8,549.2>? 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": "209e9e9c3a2e4a399c44b6aa8be659d6_4d737c92e9f14f86b7ee3988066bf13d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931875162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931875154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931875170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931875187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931875197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931875177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_BACK,1463.8,549.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_4d737c92e9f14f86b7ee3988066bf13d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931875162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931875154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931875170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931875187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931875197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931875177893.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."
            }
        ]
    },
    {
        "id": "209e9e9c3a2e4a399c44b6aa8be659d6_4d737c92e9f14f86b7ee3988066bf13d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931875162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931875154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931875170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931875187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931875197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931875177893.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": "4f18d9a7ed374a0fb93c026589dcf9a0_77738237fd8b49b5a7f21d6580825e56_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658973412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658973404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658973420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658973437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658973447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658973428113.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 black sedan to the front right of the ego vehicle, a black sedan to the front of the ego vehicle, and a black sedan car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,843.3,484.2>, <c2,CAM_FRONT_RIGHT,324.2,676.5>, <c3,CAM_FRONT,709.2,510.8>, and <c4,CAM_BACK,787.5,512.5>."
            }
        ]
    },
    {
        "id": "4f18d9a7ed374a0fb93c026589dcf9a0_77738237fd8b49b5a7f21d6580825e56_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658973412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658973404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658973420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658973437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658973447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658973428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,787.5,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4f18d9a7ed374a0fb93c026589dcf9a0_77738237fd8b49b5a7f21d6580825e56_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658973412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658973404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658973420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658973437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658973447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658973428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,843.3,484.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4f18d9a7ed374a0fb93c026589dcf9a0_77738237fd8b49b5a7f21d6580825e56_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658973412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658973404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658973420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658973437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658973447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658973428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,843.3,484.2>? 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 of taking this action is high."
            }
        ]
    },
    {
        "id": "4f18d9a7ed374a0fb93c026589dcf9a0_77738237fd8b49b5a7f21d6580825e56_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658973412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658973404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658973420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658973437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658973447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658973428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,843.3,484.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "4f18d9a7ed374a0fb93c026589dcf9a0_77738237fd8b49b5a7f21d6580825e56_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658973412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658973404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658973420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658973437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658973447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658973428113.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": "4f18d9a7ed374a0fb93c026589dcf9a0_77738237fd8b49b5a7f21d6580825e56_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658973412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658973404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658973420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658973437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658973447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658973428113.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": "4f18d9a7ed374a0fb93c026589dcf9a0_766c11df8b214b7d8fa114bc564ea97a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658968912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658968904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658968920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658968937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658968947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658968928113.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 front right of the ego vehicle, a red car to the back right of the ego vehicle, a black sedan to the front of the ego vehicle, and a black business to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,638.3,687.5>, <c2,CAM_BACK_RIGHT,584.1,697.5>, <c3,CAM_FRONT,917.5,474.2>, and <c4,CAM_BACK,841.7,512.5>."
            }
        ]
    },
    {
        "id": "4f18d9a7ed374a0fb93c026589dcf9a0_766c11df8b214b7d8fa114bc564ea97a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658968912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658968904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658968920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658968937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658968947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658968928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,917.5,474.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4f18d9a7ed374a0fb93c026589dcf9a0_766c11df8b214b7d8fa114bc564ea97a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658968912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658968904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658968920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658968937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658968947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658968928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,638.3,687.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4f18d9a7ed374a0fb93c026589dcf9a0_766c11df8b214b7d8fa114bc564ea97a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658968912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658968904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658968920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658968937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658968947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658968928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,638.3,687.5>? 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": "4f18d9a7ed374a0fb93c026589dcf9a0_766c11df8b214b7d8fa114bc564ea97a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658968912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658968904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658968920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658968937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658968947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658968928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,638.3,687.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "4f18d9a7ed374a0fb93c026589dcf9a0_766c11df8b214b7d8fa114bc564ea97a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658968912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658968904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658968920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658968937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658968947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658968928113.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": "4f18d9a7ed374a0fb93c026589dcf9a0_766c11df8b214b7d8fa114bc564ea97a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658968912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658968904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658968920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658968937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658968947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658968928113.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": "c0990deaa8954a54afc86f7710f349a1_9b1a2d20280c46a7bec779b33854c593_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986210912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986210904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986210920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986210937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986210947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986210927893.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 man wearing a blue shirt to the front right of the ego vehicle, a man riding a motorcycle to the front of the ego vehicle, and a man riding a motorcycle to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,818.3,525.0>, <c2,CAM_FRONT_RIGHT,926.7,618.3>, <c3,CAM_FRONT,1004.2,465.0>, and <c4,CAM_BACK,977.5,655.0>."
            }
        ]
    },
    {
        "id": "c0990deaa8954a54afc86f7710f349a1_9b1a2d20280c46a7bec779b33854c593_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986210912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986210904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986210920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986210937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986210947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986210927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,818.3,525.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c0990deaa8954a54afc86f7710f349a1_9b1a2d20280c46a7bec779b33854c593_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986210912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986210904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986210920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986210937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986210947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986210927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,818.3,525.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c0990deaa8954a54afc86f7710f349a1_9b1a2d20280c46a7bec779b33854c593_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986210912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986210904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986210920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986210937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986210947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986210927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,818.3,525.0>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "c0990deaa8954a54afc86f7710f349a1_9b1a2d20280c46a7bec779b33854c593_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986210912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986210904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986210920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986210937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986210947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986210927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,818.3,525.0>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "c0990deaa8954a54afc86f7710f349a1_9b1a2d20280c46a7bec779b33854c593_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986210912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986210904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986210920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986210937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986210947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986210927893.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": "c0990deaa8954a54afc86f7710f349a1_9b1a2d20280c46a7bec779b33854c593_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986210912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986210904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986210920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986210937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986210947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986210927893.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 with normal speed."
            }
        ]
    },
    {
        "id": "c0990deaa8954a54afc86f7710f349a1_188ae235d3e14705b8b6323b8c90b67d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986213362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986213354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986213370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986213387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986213397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986213377893.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 walking to the front right of the ego vehicle, a black sedan to the back of the ego vehicle, a person walking to the back right of the ego vehicle, and a person riding a bike to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,613.3,499.2>, <c2,CAM_BACK,977.5,527.5>, <c3,CAM_BACK_RIGHT,981.7,550.8>, and <c4,CAM_BACK,855.8,657.5>."
            }
        ]
    },
    {
        "id": "c0990deaa8954a54afc86f7710f349a1_188ae235d3e14705b8b6323b8c90b67d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986213362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986213354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986213370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986213387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986213397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986213377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,613.3,499.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c0990deaa8954a54afc86f7710f349a1_188ae235d3e14705b8b6323b8c90b67d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986213362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986213354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986213370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986213387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986213397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986213377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,613.3,499.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c0990deaa8954a54afc86f7710f349a1_188ae235d3e14705b8b6323b8c90b67d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986213362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986213354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986213370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986213387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986213397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986213377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,613.3,499.2>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "c0990deaa8954a54afc86f7710f349a1_188ae235d3e14705b8b6323b8c90b67d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986213362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986213354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986213370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986213387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986213397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986213377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,613.3,499.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "c0990deaa8954a54afc86f7710f349a1_188ae235d3e14705b8b6323b8c90b67d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986213362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986213354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986213370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986213387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986213397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986213377893.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": "c0990deaa8954a54afc86f7710f349a1_188ae235d3e14705b8b6323b8c90b67d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986213362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986213354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986213370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986213387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986213397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986213377893.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 with normal speed."
            }
        ]
    },
    {
        "id": "dac50250c406439480be8b44d2c5a634_e2a24c0516bd43f2b9b6117ed1a78af5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986310662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986310654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986310670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986310687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986310697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986310677893.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 electric car to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, a white sedan to the front right of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,997.5,442.5>, <c2,CAM_BACK,335.0,640.0>, <c3,CAM_FRONT_RIGHT,203.3,555.0>, and <c4,CAM_BACK,771.3,533.0>."
            }
        ]
    },
    {
        "id": "dac50250c406439480be8b44d2c5a634_e2a24c0516bd43f2b9b6117ed1a78af5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986310662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986310654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986310670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986310687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986310697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986310677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,771.3,533.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "dac50250c406439480be8b44d2c5a634_e2a24c0516bd43f2b9b6117ed1a78af5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986310662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986310654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986310670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986310687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986310697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986310677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,997.5,442.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "dac50250c406439480be8b44d2c5a634_e2a24c0516bd43f2b9b6117ed1a78af5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986310662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986310654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986310670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986310687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986310697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986310677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,997.5,442.5>? 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": "dac50250c406439480be8b44d2c5a634_e2a24c0516bd43f2b9b6117ed1a78af5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986310662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986310654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986310670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986310687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986310697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986310677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,997.5,442.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "dac50250c406439480be8b44d2c5a634_e2a24c0516bd43f2b9b6117ed1a78af5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986310662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986310654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986310670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986310687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986310697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986310677893.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": "dac50250c406439480be8b44d2c5a634_e2a24c0516bd43f2b9b6117ed1a78af5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986310662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986310654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986310670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986310687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986310697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986310677893.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": "dac50250c406439480be8b44d2c5a634_f89976efe46743fd911247280de67045_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986304162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986304154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986304170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986304187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986304197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986304177893.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 of the ego vehicle, a brownish-red sedan to the front right of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1121.7,535.8>, <c2,CAM_FRONT_RIGHT,1275.0,620.8>, and <c3,CAM_BACK,876.7,530.8>."
            }
        ]
    },
    {
        "id": "dac50250c406439480be8b44d2c5a634_f89976efe46743fd911247280de67045_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986304162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986304154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986304170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986304187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986304197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986304177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,1275.0,620.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "dac50250c406439480be8b44d2c5a634_f89976efe46743fd911247280de67045_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986304162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986304154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986304170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986304187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986304197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986304177893.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 <c2,CAM_FRONT_RIGHT,1275.0,620.8>. The object is turning left, so the ego vehicle should continue straight at the same speed. Secondly notice that <c1,CAM_FRONT,1121.7,535.8>. The object is stationary, so the ego vehicle should continue straight at the same speed. Thirdly notice that <c3,CAM_BACK,876.7,530.8>. The object is going ahead, so the ego vehicle should continue straight at the same speed."
            }
        ]
    },
    {
        "id": "dac50250c406439480be8b44d2c5a634_f89976efe46743fd911247280de67045_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986304162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986304154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986304170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986304187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986304197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986304177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1121.7,535.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "dac50250c406439480be8b44d2c5a634_f89976efe46743fd911247280de67045_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986304162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986304154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986304170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986304187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986304197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986304177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1121.7,535.8>? 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": "dac50250c406439480be8b44d2c5a634_f89976efe46743fd911247280de67045_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986304162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986304154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986304170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986304187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986304197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986304177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1121.7,535.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "dac50250c406439480be8b44d2c5a634_f89976efe46743fd911247280de67045_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986304162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986304154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986304170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986304187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986304197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986304177893.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 continue forward."
            }
        ]
    },
    {
        "id": "dac50250c406439480be8b44d2c5a634_f89976efe46743fd911247280de67045_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986304162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986304154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986304170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986304187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986304197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986304177893.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": "a59b6db922ff490da5ccfc9980700935_99ab7933411c420cba2ef0fca7ec4ebe_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292932362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292932354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292932370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292932387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292932397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292932378113.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 silver gray sedan to the back left of the ego vehicle, a white motorhome to the back right of the ego vehicle, a black sedan to the front of the ego vehicle, and a white sedan car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,98.3,606.7>, <c2,CAM_BACK_LEFT,688.9,637.5>, <c3,CAM_BACK_RIGHT,1136.8,397.6>, <c4,CAM_FRONT,441.7,560.8>, and <c5,CAM_BACK,775.5,651.1>."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_99ab7933411c420cba2ef0fca7ec4ebe_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292932362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292932354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292932370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292932387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292932397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292932378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,98.3,606.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_99ab7933411c420cba2ef0fca7ec4ebe_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292932362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292932354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292932370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292932387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292932397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292932378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,98.3,606.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_99ab7933411c420cba2ef0fca7ec4ebe_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292932362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292932354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292932370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292932387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292932397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292932378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,98.3,606.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary, the reason is to follow the traffic rules, high probability."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_99ab7933411c420cba2ef0fca7ec4ebe_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292932362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292932354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292932370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292932387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292932397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292932378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,98.3,606.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_99ab7933411c420cba2ef0fca7ec4ebe_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292932362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292932354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292932370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292932387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292932397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292932378113.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."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_99ab7933411c420cba2ef0fca7ec4ebe_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292932362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292932354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292932370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292932387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292932397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292932378113.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": "a59b6db922ff490da5ccfc9980700935_d473a81818fe473ead8e63962ab1cf2a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292939912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292939904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292939920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292939937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292939947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292939928113.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 back left of the ego vehicle, a white motorhome to the back right of the ego vehicle, a black truck to the back of the ego vehicle, a person with a gray shirt to the front right of the ego vehicle, and a white SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,658.3,636.7>, <c2,CAM_BACK_RIGHT,1144.2,420.0>, <c3,CAM_BACK,1145.0,468.3>, <c4,CAM_FRONT_RIGHT,601.7,567.5>, and <c5,CAM_BACK,786.7,643.3>."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_d473a81818fe473ead8e63962ab1cf2a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292939912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292939904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292939920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292939937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292939947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292939928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_FRONT_RIGHT,601.7,567.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_d473a81818fe473ead8e63962ab1cf2a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292939912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292939904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292939920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292939937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292939947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292939928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,658.3,636.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_d473a81818fe473ead8e63962ab1cf2a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292939912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292939904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292939920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292939937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292939947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292939928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,658.3,636.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to continue at the same speed. The reason for this action is to avoid a collision, with a high probability."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_d473a81818fe473ead8e63962ab1cf2a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292939912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292939904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292939920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292939937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292939947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292939928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,658.3,636.7>?"
            },
            {
                "from": "gpt",
                "value": "Change to the left lane."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_d473a81818fe473ead8e63962ab1cf2a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292939912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292939904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292939920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292939937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292939947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292939928113.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 right, brake gently to stop."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_d473a81818fe473ead8e63962ab1cf2a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292939912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292939904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292939920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292939937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292939947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292939928113.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": "a59b6db922ff490da5ccfc9980700935_3d8c2624af7b4e27b0c780f87f5bc4af_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292935362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292935354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292935370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292935387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292935397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292935378113.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 crossing the road to the front of the ego vehicle, a gray sedan to the back left of the ego vehicle, a white truck to the back right of the ego vehicle, a pedestrian crossing the road to the front of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,949.2,565.8>, <c2,CAM_BACK_LEFT,690.0,636.7>, <c3,CAM_BACK_RIGHT,1152.7,411.1>, <c4,CAM_FRONT,570.8,610.8>, and <c5,CAM_BACK,771.7,652.5>."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_3d8c2624af7b4e27b0c780f87f5bc4af_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292935362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292935354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292935370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292935387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292935397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292935378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,949.2,565.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_3d8c2624af7b4e27b0c780f87f5bc4af_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292935362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292935354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292935370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292935387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292935397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292935378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,949.2,565.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_3d8c2624af7b4e27b0c780f87f5bc4af_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292935362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292935354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292935370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292935387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292935397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292935378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,949.2,565.8>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_3d8c2624af7b4e27b0c780f87f5bc4af_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292935362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292935354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292935370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292935387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292935397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292935378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,949.2,565.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_3d8c2624af7b4e27b0c780f87f5bc4af_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292935362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292935354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292935370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292935387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292935397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292935378113.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, slightly offset to the right."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_3d8c2624af7b4e27b0c780f87f5bc4af_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292935362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292935354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292935370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292935387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292935397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292935378113.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": "a59b6db922ff490da5ccfc9980700935_1a6b9fafac3b410692811a7ba47fd065_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292927362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292927354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292927370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292927387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292927397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292927378113.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 crossing the road to the front left of the ego vehicle, a gray sedan to the back left of the ego vehicle, a white truck to the back right of the ego vehicle, a white sedan to the front of the ego vehicle, and a white sedan car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,700.0,573.3>, <c2,CAM_BACK_LEFT,690.0,637.5>, <c3,CAM_BACK_RIGHT,1140.7,421.5>, <c4,CAM_FRONT,655.8,535.0>, and <c5,CAM_BACK,775.8,647.5>."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_1a6b9fafac3b410692811a7ba47fd065_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292927362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292927354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292927370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292927387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292927397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292927378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,700.0,573.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_1a6b9fafac3b410692811a7ba47fd065_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292927362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292927354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292927370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292927387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292927397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292927378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,700.0,573.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_1a6b9fafac3b410692811a7ba47fd065_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292927362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292927354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292927370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292927387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292927397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292927378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,700.0,573.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary, the reason is to follow the traffic rules, high probability."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_1a6b9fafac3b410692811a7ba47fd065_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292927362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292927354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292927370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292927387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292927397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292927378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,700.0,573.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_1a6b9fafac3b410692811a7ba47fd065_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292927362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292927354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292927370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292927387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292927397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292927378113.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 suddenly, slightly offset to the right."
            }
        ]
    },
    {
        "id": "a59b6db922ff490da5ccfc9980700935_1a6b9fafac3b410692811a7ba47fd065_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292927362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292927354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292927370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292927387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292927397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292927378113.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": "35ecd252b8ee4cbc83376148e192a803_a593a62aa9b54234ae666f3006b4d9f5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867338512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867338504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867338520487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867338537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867338547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867338528113.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 black SUV to the front left of the ego vehicle, pedestrians crossing the road to the front left of the ego vehicle, a gray sedan to the front of the ego vehicle, a silver 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 <c1,CAM_FRONT,1208.3,517.5>, <c2,CAM_FRONT_LEFT,1312.0,621.9>, <c3,CAM_FRONT_LEFT,368.3,646.7>, <c4,CAM_FRONT,482.5,577.5>, <c5,CAM_BACK,638.3,536.7>, and <c6,CAM_FRONT,839.2,506.7>."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_a593a62aa9b54234ae666f3006b4d9f5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867338512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867338504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867338520487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867338537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867338547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867338528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT_LEFT,368.3,646.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_a593a62aa9b54234ae666f3006b4d9f5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867338512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867338504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867338520487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867338537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867338547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867338528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1208.3,517.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_a593a62aa9b54234ae666f3006b4d9f5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867338512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867338504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867338520487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867338537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867338547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867338528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1208.3,517.5>? 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": "35ecd252b8ee4cbc83376148e192a803_a593a62aa9b54234ae666f3006b4d9f5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867338512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867338504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867338520487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867338537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867338547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867338528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1208.3,517.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_a593a62aa9b54234ae666f3006b4d9f5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867338512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867338504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867338520487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867338537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867338547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867338528113.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, slightly offset to the right."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_a593a62aa9b54234ae666f3006b4d9f5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867338512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867338504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867338520487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867338537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867338547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867338528113.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 with normal speed."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_0fb5cb79f68e4bd78871f5d3e826f76c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867336412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867336404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867336420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867336437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867336447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867336428115.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 right of the ego vehicle, a black SUV to the front of the ego vehicle, a pedestrian crossing the road to the front of the ego vehicle, pedestrians preparing to cross the road to the front left of the ego vehicle, a white sedan car to the back left of the ego vehicle, and a silver pickup truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,227.5,504.2>, <c2,CAM_FRONT,852.5,564.2>, <c3,CAM_FRONT,720.0,625.8>, <c4,CAM_FRONT_LEFT,1320.0,540.0>, <c5,CAM_BACK_LEFT,655.0,515.0>, and <c6,CAM_BACK,595.2,551.2>."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_0fb5cb79f68e4bd78871f5d3e826f76c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867336412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867336404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867336420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867336437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867336447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867336428115.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,720.0,625.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_0fb5cb79f68e4bd78871f5d3e826f76c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867336412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867336404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867336420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867336437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867336447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867336428115.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,227.5,504.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_0fb5cb79f68e4bd78871f5d3e826f76c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867336412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867336404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867336420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867336437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867336447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867336428115.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,227.5,504.2>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_0fb5cb79f68e4bd78871f5d3e826f76c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867336412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867336404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867336420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867336437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867336447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867336428115.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,227.5,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_0fb5cb79f68e4bd78871f5d3e826f76c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867336412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867336404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867336420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867336437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867336447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867336428115.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."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_0fb5cb79f68e4bd78871f5d3e826f76c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867336412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867336404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867336420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867336437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867336447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867336428115.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 slowly."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_192de1b53f93482ba134efa222e8d59d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867334912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867334904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867334920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867334937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867334947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867334928113.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 left of the ego vehicle, a black SUV to the front of the ego vehicle, a silver sedan to the back of the ego vehicle, a man wearing a blue shirt to the front of the ego vehicle, a white pickup truck to the back of the ego vehicle, and a man wearing a black jacket to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,728.3,468.3>, <c2,CAM_FRONT,1095.4,529.2>, <c3,CAM_BACK,1260.0,545.8>, <c4,CAM_FRONT,325.0,520.0>, <c5,CAM_BACK,542.8,540.3>, and <c6,CAM_BACK_RIGHT,659.2,580.8>."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_192de1b53f93482ba134efa222e8d59d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867334912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867334904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867334920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867334937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867334947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867334928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,728.3,468.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_192de1b53f93482ba134efa222e8d59d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867334912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867334904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867334920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867334937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867334947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867334928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,728.3,468.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_192de1b53f93482ba134efa222e8d59d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867334912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867334904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867334920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867334937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867334947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867334928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,728.3,468.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is that the object has little reference value for the ego vehicle, and the probability is high."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_192de1b53f93482ba134efa222e8d59d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867334912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867334904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867334920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867334937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867334947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867334928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,728.3,468.3>?"
            },
            {
                "from": "gpt",
                "value": "None."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_192de1b53f93482ba134efa222e8d59d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867334912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867334904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867334920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867334937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867334947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867334928113.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; keep going at the same speed."
            }
        ]
    },
    {
        "id": "35ecd252b8ee4cbc83376148e192a803_192de1b53f93482ba134efa222e8d59d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867334912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867334904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867334920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867334937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867334947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867334928113.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 slowly."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_2732220f823a4adfb65470a903f23968_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385314662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385314654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385314670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385314687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385314697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385314678113.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, and a yellow truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,735.0,485.0>, <c2,CAM_FRONT,280.0,480.0>, and <c3,CAM_FRONT,133.0,475.3>."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_2732220f823a4adfb65470a903f23968_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385314662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385314654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385314670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385314687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385314697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385314678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,735.0,485.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_2732220f823a4adfb65470a903f23968_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385314662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385314654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385314670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385314687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385314697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385314678113.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 <c3,CAM_FRONT,133.0,475.3>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,280.0,480.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,735.0,485.0>. The object is going forward, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_2732220f823a4adfb65470a903f23968_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385314662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385314654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385314670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385314687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385314697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385314678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,735.0,485.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_2732220f823a4adfb65470a903f23968_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385314662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385314654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385314670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385314687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385314697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385314678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,735.0,485.0>? 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. The probability is high."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_2732220f823a4adfb65470a903f23968_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385314662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385314654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385314670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385314687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385314697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385314678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,735.0,485.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_2732220f823a4adfb65470a903f23968_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385314662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385314654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385314670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385314687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385314697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385314678113.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": "881c0b8d8efe4006a6c974128ee7f7c2_2732220f823a4adfb65470a903f23968_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385314662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385314654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385314670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385314687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385314697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385314678113.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": "881c0b8d8efe4006a6c974128ee7f7c2_91f3a8d8da9f43e193b6bae4d313d713_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385317662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385317654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385317670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385317687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385317697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385317678113.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 exotic car to the front right of the ego vehicle, a red and white truck to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a yellow and white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,705.0,420.8>, <c2,CAM_FRONT,574.2,457.5>, <c3,CAM_BACK,996.7,506.7>, and <c4,CAM_FRONT,310.9,456.6>."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_91f3a8d8da9f43e193b6bae4d313d713_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385317662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385317654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385317670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385317687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385317697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385317678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,996.7,506.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_91f3a8d8da9f43e193b6bae4d313d713_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385317662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385317654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385317670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385317687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385317697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385317678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,705.0,420.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_91f3a8d8da9f43e193b6bae4d313d713_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385317662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385317654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385317670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385317687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385317697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385317678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,705.0,420.8>? 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": "881c0b8d8efe4006a6c974128ee7f7c2_91f3a8d8da9f43e193b6bae4d313d713_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385317662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385317654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385317670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385317687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385317697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385317678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,705.0,420.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_91f3a8d8da9f43e193b6bae4d313d713_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385317662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385317654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385317670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385317687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385317697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385317678113.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": "881c0b8d8efe4006a6c974128ee7f7c2_91f3a8d8da9f43e193b6bae4d313d713_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385317662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385317654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385317670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385317687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385317697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385317678113.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": "881c0b8d8efe4006a6c974128ee7f7c2_87d18b7c5be24c909cfa5d2ac9483b93_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385328412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385328404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385328420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385328437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385328447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385328428117.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 container to the front left of the ego vehicle, a black sedan to the back of the ego vehicle, a white truck to the front right of the ego vehicle, and a traffic cone to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,322.5,379.9>, <c2,CAM_BACK,834.2,513.3>, <c3,CAM_FRONT_RIGHT,1275.0,408.3>, and <c4,CAM_FRONT,1135.5,511.7>."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_87d18b7c5be24c909cfa5d2ac9483b93_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385328412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385328404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385328420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385328437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385328447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385328428117.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,834.2,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_87d18b7c5be24c909cfa5d2ac9483b93_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385328412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385328404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385328420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385328437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385328447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385328428117.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,322.5,379.9> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_87d18b7c5be24c909cfa5d2ac9483b93_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385328412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385328404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385328420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385328437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385328447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385328428117.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,322.5,379.9>? 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": "881c0b8d8efe4006a6c974128ee7f7c2_87d18b7c5be24c909cfa5d2ac9483b93_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385328412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385328404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385328420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385328437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385328447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385328428117.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,322.5,379.9>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_87d18b7c5be24c909cfa5d2ac9483b93_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385328412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385328404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385328420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385328437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385328447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385328428117.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_87d18b7c5be24c909cfa5d2ac9483b93_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385328412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385328404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385328420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385328437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385328447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385328428117.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": "881c0b8d8efe4006a6c974128ee7f7c2_e3858cb367fb48bf8dd321066426b08c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385322112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385322104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385322120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385322137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385322147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385322128113.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 of the ego vehicle, a black sedan to the back of the ego vehicle, a red car to the back of the ego vehicle, and a yellow and white truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,475.8,458.3>, <c2,CAM_BACK,865.0,525.8>, <c3,CAM_BACK,1510.8,539.2>, and <c4,CAM_FRONT_LEFT,1499.2,415.0>."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_e3858cb367fb48bf8dd321066426b08c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385322112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385322104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385322120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385322137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385322147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385322128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,865.0,525.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_e3858cb367fb48bf8dd321066426b08c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385322112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385322104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385322120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385322137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385322147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385322128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,475.8,458.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_e3858cb367fb48bf8dd321066426b08c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385322112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385322104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385322120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385322137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385322147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385322128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,475.8,458.3>? 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": "881c0b8d8efe4006a6c974128ee7f7c2_e3858cb367fb48bf8dd321066426b08c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385322112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385322104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385322120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385322137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385322147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385322128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,475.8,458.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "881c0b8d8efe4006a6c974128ee7f7c2_e3858cb367fb48bf8dd321066426b08c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385322112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385322104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385322120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385322137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385322147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385322128113.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": "881c0b8d8efe4006a6c974128ee7f7c2_e3858cb367fb48bf8dd321066426b08c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385322112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385322104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385322120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385322137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385322147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385322128113.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 with normal speed."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_8d2452eac7554346a408ab1a938ce31e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153757012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153757004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153757020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153757037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153757047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153757028113.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 bicycle to the front of the ego vehicle, a black sedan to the front of the ego vehicle, a gray sedan to the front right of the ego vehicle, and a no entry sign to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,874.2,478.3>, <c2,CAM_FRONT,1378.3,471.7>, <c3,CAM_FRONT_RIGHT,376.7,515.9>, and <c4,CAM_FRONT_LEFT,310.3,543.8>."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_8d2452eac7554346a408ab1a938ce31e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153757012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153757004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153757020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153757037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153757047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153757028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,874.2,478.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_8d2452eac7554346a408ab1a938ce31e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153757012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153757004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153757020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153757037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153757047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153757028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,874.2,478.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_8d2452eac7554346a408ab1a938ce31e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153757012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153757004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153757020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153757037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153757047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153757028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,874.2,478.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to accelerate and go ahead. The reason is that there is no safety issue, and the probability is high."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_8d2452eac7554346a408ab1a938ce31e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153757012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153757004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153757020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153757037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153757047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153757028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,874.2,478.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_8d2452eac7554346a408ab1a938ce31e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153757012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153757004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153757020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153757037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153757047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153757028113.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": "Accelerate and go ahead; keep going at the same speed."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_8d2452eac7554346a408ab1a938ce31e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153757012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153757004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153757020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153757037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153757047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153757028113.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": "e9a94a93c36a4adb831eb67ec8bdf289_9570a496ffde4a2bb2f5215a7c7d83bb_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153765512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153765504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153765520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153765537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153765547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153765528113.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 white roadblock to the front of the ego vehicle, and a blue and white sign to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,116.7,497.5>, <c2,CAM_FRONT,1054.2,546.7>, and <c3,CAM_FRONT_LEFT,859.3,292.5>."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_9570a496ffde4a2bb2f5215a7c7d83bb_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153765512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153765504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153765520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153765537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153765547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153765528113.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 <c3,CAM_FRONT_LEFT,859.3,292.5>. The object is a traffic sign, so the ego vehicle should turn right. Secondly, notice that <c2,CAM_FRONT,1054.2,546.7>. The object is a traffic sign, so the ego vehicle should turn right. Thirdly, notice that <c1,CAM_BACK_LEFT,116.7,497.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_9570a496ffde4a2bb2f5215a7c7d83bb_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153765512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153765504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153765520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153765537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153765547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153765528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,116.7,497.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_9570a496ffde4a2bb2f5215a7c7d83bb_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153765512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153765504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153765520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153765537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153765547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153765528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,116.7,497.5>? 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": "e9a94a93c36a4adb831eb67ec8bdf289_9570a496ffde4a2bb2f5215a7c7d83bb_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153765512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153765504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153765520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153765537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153765547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153765528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,116.7,497.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_9570a496ffde4a2bb2f5215a7c7d83bb_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153765512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153765504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153765520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153765537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153765547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153765528113.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 right, slightly offset to the right."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_9570a496ffde4a2bb2f5215a7c7d83bb_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153765512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153765504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153765520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153765537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153765547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153765528113.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": "e9a94a93c36a4adb831eb67ec8bdf289_803f08d2e3d74ba7ac19b4d91b6c7e53_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153752112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153752104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153752120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153752137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153752147461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153752128113.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 riding a bicycle to the front right of the ego vehicle, a black sedan to the front right of the ego vehicle, a white pedestrian crossing to the front left of the ego vehicle, and a road sign to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,164.2,471.7>, <c2,CAM_FRONT_RIGHT,429.2,521.7>, <c3,CAM_FRONT_LEFT,947.5,754.9>, and <c4,CAM_FRONT_LEFT,454.8,251.3>."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_803f08d2e3d74ba7ac19b4d91b6c7e53_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153752112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153752104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153752120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153752137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153752147461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153752128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,164.2,471.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_803f08d2e3d74ba7ac19b4d91b6c7e53_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153752112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153752104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153752120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153752137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153752147461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153752128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,164.2,471.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_803f08d2e3d74ba7ac19b4d91b6c7e53_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153752112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153752104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153752120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153752137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153752147461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153752128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,164.2,471.7>? 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": "e9a94a93c36a4adb831eb67ec8bdf289_803f08d2e3d74ba7ac19b4d91b6c7e53_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153752112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153752104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153752120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153752137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153752147461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153752128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,164.2,471.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_803f08d2e3d74ba7ac19b4d91b6c7e53_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153752112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153752104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153752120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153752137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153752147461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153752128113.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, brake suddenly, decelerate gradually without braking, slightly offset to the left, back up, turn left, or change to the left lane."
            }
        ]
    },
    {
        "id": "e9a94a93c36a4adb831eb67ec8bdf289_803f08d2e3d74ba7ac19b4d91b6c7e53_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153752112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153752104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153752120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153752137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153752147461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153752128113.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": "c949ec2cca7047bdb67dce64b6c3586a_5efb275a2b1343a88e82c6cc08fff267_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800395912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800395904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800395920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800395937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800395947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800395927901.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 small car to the front right of the ego vehicle, a black small car to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,601.5,591.7>, <c2,CAM_FRONT,586.7,535.8>, and <c3,CAM_FRONT,685.0,475.8>."
            }
        ]
    },
    {
        "id": "c949ec2cca7047bdb67dce64b6c3586a_5efb275a2b1343a88e82c6cc08fff267_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800395912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800395904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800395920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800395937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800395947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800395927901.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,601.5,591.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c949ec2cca7047bdb67dce64b6c3586a_5efb275a2b1343a88e82c6cc08fff267_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800395912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800395904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800395920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800395937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800395947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800395927901.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 <c1,CAM_FRONT_RIGHT,601.5,591.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,586.7,535.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,685.0,475.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "c949ec2cca7047bdb67dce64b6c3586a_5efb275a2b1343a88e82c6cc08fff267_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800395912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800395904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800395920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800395937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800395947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800395927901.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,601.5,591.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c949ec2cca7047bdb67dce64b6c3586a_5efb275a2b1343a88e82c6cc08fff267_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800395912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800395904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800395920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800395937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800395947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800395927901.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,601.5,591.7>? 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": "c949ec2cca7047bdb67dce64b6c3586a_5efb275a2b1343a88e82c6cc08fff267_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800395912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800395904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800395920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800395937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800395947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800395927901.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,601.5,591.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "c949ec2cca7047bdb67dce64b6c3586a_5efb275a2b1343a88e82c6cc08fff267_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800395912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800395904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800395920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800395937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800395947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800395927901.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": "c949ec2cca7047bdb67dce64b6c3586a_5efb275a2b1343a88e82c6cc08fff267_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800395912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800395904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800395920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800395937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800395947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800395927901.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": "9ac6dff089a84a6d8f066122443a10db_cd6ca62168d842758bfbcb5c483bb01f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985199262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985199254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985199270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985199287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985199297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985199277893.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 bus to the back of the ego vehicle, a black SUV to the front of the ego vehicle, a white car to the front of the ego vehicle, and a yellow bus to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,927.5,509.2>, <c2,CAM_FRONT,557.5,526.7>, <c3,CAM_FRONT,350.8,496.7>, and <c4,CAM_BACK,688.3,511.7>."
            }
        ]
    },
    {
        "id": "9ac6dff089a84a6d8f066122443a10db_cd6ca62168d842758bfbcb5c483bb01f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985199262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985199254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985199270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985199287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985199297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985199277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,927.5,509.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9ac6dff089a84a6d8f066122443a10db_cd6ca62168d842758bfbcb5c483bb01f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985199262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985199254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985199270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985199287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985199297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985199277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,927.5,509.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9ac6dff089a84a6d8f066122443a10db_cd6ca62168d842758bfbcb5c483bb01f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985199262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985199254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985199270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985199287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985199297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985199277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,927.5,509.2>? 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": "9ac6dff089a84a6d8f066122443a10db_cd6ca62168d842758bfbcb5c483bb01f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985199262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985199254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985199270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985199287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985199297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985199277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,927.5,509.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "9ac6dff089a84a6d8f066122443a10db_cd6ca62168d842758bfbcb5c483bb01f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985199262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985199254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985199270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985199287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985199297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985199277893.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 slightly offset to the right."
            }
        ]
    },
    {
        "id": "9ac6dff089a84a6d8f066122443a10db_cd6ca62168d842758bfbcb5c483bb01f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985199262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985199254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985199270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985199287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985199297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985199277893.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": "9ac6dff089a84a6d8f066122443a10db_afc977eeaec9494d98a786ccd9bc6e21_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985196262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985196254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985196270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985196287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985196297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985196277893.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 light blue coach to the back of the ego vehicle, a black SUV to the front of the ego vehicle, and an orange coach to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,785.8,516.7>, <c2,CAM_FRONT,516.7,520.8>, and <c3,CAM_FRONT,1428.4,440.5>."
            }
        ]
    },
    {
        "id": "9ac6dff089a84a6d8f066122443a10db_afc977eeaec9494d98a786ccd9bc6e21_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985196262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985196254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985196270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985196287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985196297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985196277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,785.8,516.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9ac6dff089a84a6d8f066122443a10db_afc977eeaec9494d98a786ccd9bc6e21_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985196262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985196254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985196270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985196287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985196297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985196277893.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 <c3,CAM_FRONT,1428.4,440.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c2,CAM_FRONT,516.7,520.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c1,CAM_BACK,785.8,516.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "9ac6dff089a84a6d8f066122443a10db_afc977eeaec9494d98a786ccd9bc6e21_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985196262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985196254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985196270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985196287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985196297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985196277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,785.8,516.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9ac6dff089a84a6d8f066122443a10db_afc977eeaec9494d98a786ccd9bc6e21_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985196262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985196254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985196270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985196287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985196297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985196277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,785.8,516.7>? 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": "9ac6dff089a84a6d8f066122443a10db_afc977eeaec9494d98a786ccd9bc6e21_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985196262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985196254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985196270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985196287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985196297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985196277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,785.8,516.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "9ac6dff089a84a6d8f066122443a10db_afc977eeaec9494d98a786ccd9bc6e21_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985196262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985196254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985196270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985196287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985196297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985196277893.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": "9ac6dff089a84a6d8f066122443a10db_afc977eeaec9494d98a786ccd9bc6e21_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985196262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985196254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985196270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985196287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985196297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985196277893.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 with normal speed."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_ef2c3b2cd88b4fce888dbb5a79f15e73_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707860012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707860004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707860020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707860037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707860047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707860028113.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 person wearing fluorescent green clothes to the front of the ego vehicle, a pedestrian wearing brown clothes to the back right of the ego vehicle, a black car to the back left of the ego vehicle, and a blue and white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,828.9,513.5>, <c2,CAM_FRONT,748.3,515.0>, <c3,CAM_BACK_RIGHT,1170.0,527.5>, <c4,CAM_BACK_LEFT,1358.3,504.2>, and <c5,CAM_FRONT,640.8,486.7>."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_ef2c3b2cd88b4fce888dbb5a79f15e73_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707860012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707860004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707860020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707860037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707860047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707860028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,828.9,513.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_ef2c3b2cd88b4fce888dbb5a79f15e73_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707860012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707860004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707860020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707860037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707860047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707860028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,828.9,513.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_ef2c3b2cd88b4fce888dbb5a79f15e73_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707860012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707860004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707860020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707860037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707860047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707860028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,828.9,513.5>? 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 there is no safety issue. The probability is high."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_ef2c3b2cd88b4fce888dbb5a79f15e73_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707860012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707860004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707860020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707860037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707860047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707860028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,828.9,513.5>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_ef2c3b2cd88b4fce888dbb5a79f15e73_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707860012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707860004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707860020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707860037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707860047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707860028113.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": "129304d659464b0fb3a51c99eaec114a_ef2c3b2cd88b4fce888dbb5a79f15e73_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707860012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707860004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707860020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707860037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707860047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707860028113.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": "129304d659464b0fb3a51c99eaec114a_827af4bcae3a47839e39ee2da53fb008_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707863506802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707863528113.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 traffic police to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a people crossing the road to the front right of the ego vehicle, and a white bus to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,839.2,506.7>, <c2,CAM_FRONT,554.2,575.8>, <c3,CAM_FRONT,765.0,487.5>, <c4,CAM_FRONT_RIGHT,540.0,568.3>, and <c5,CAM_FRONT,542.5,472.5>."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_827af4bcae3a47839e39ee2da53fb008_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707863506802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707863528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,839.2,506.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_827af4bcae3a47839e39ee2da53fb008_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707863506802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707863528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,839.2,506.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_827af4bcae3a47839e39ee2da53fb008_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707863506802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707863528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,839.2,506.7>? 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": "129304d659464b0fb3a51c99eaec114a_827af4bcae3a47839e39ee2da53fb008_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707863506802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707863528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,839.2,506.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_827af4bcae3a47839e39ee2da53fb008_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707863506802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707863528113.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": "129304d659464b0fb3a51c99eaec114a_827af4bcae3a47839e39ee2da53fb008_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707863506802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707863528113.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": "129304d659464b0fb3a51c99eaec114a_f43d6578cd544edabda974408d59f189_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707867412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707867404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707867420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707867437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707867447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707867428113.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 van to the front right of the ego vehicle, a red car to the front of the ego vehicle, a black pickup truck to the front left of the ego vehicle, and a person sitting on a bench to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,835.8,495.0>, <c2,CAM_FRONT_RIGHT,748.3,485.0>, <c3,CAM_FRONT,925.0,500.8>, <c4,CAM_FRONT_LEFT,1530.8,605.0>, and <c5,CAM_FRONT_RIGHT,1078.3,643.3>."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_f43d6578cd544edabda974408d59f189_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707867412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707867404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707867420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707867437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707867447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707867428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,835.8,495.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_f43d6578cd544edabda974408d59f189_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707867412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707867404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707867420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707867437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707867447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707867428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,835.8,495.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_f43d6578cd544edabda974408d59f189_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707867412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707867404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707867420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707867437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707867447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707867428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,835.8,495.0>? 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": "129304d659464b0fb3a51c99eaec114a_f43d6578cd544edabda974408d59f189_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707867412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707867404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707867420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707867437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707867447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707867428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,835.8,495.0>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "129304d659464b0fb3a51c99eaec114a_f43d6578cd544edabda974408d59f189_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707867412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707867404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707867420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707867437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707867447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707867428113.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": "129304d659464b0fb3a51c99eaec114a_f43d6578cd544edabda974408d59f189_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707867412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707867404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707867420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707867437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707867447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707867428113.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": "deab903b0b644d7a984c552968026631_556ab652a56e4094931ad33de3d58da6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574041012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574041004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574041020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574041037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574041047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574041028113.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 right of the ego vehicle, a black sedan to the back of the ego vehicle, a black sedan car to the back left of the ego vehicle, a white sedan to the front right of the ego vehicle, a white bus to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,693.3,497.5>, <c2,CAM_BACK,275.2,682.5>, <c3,CAM_BACK_LEFT,907.5,534.2>, <c4,CAM_FRONT_RIGHT,367.5,515.8>, <c5,CAM_FRONT,980.0,475.0>, and <c6,CAM_BACK,858.3,543.3>."
            }
        ]
    },
    {
        "id": "deab903b0b644d7a984c552968026631_556ab652a56e4094931ad33de3d58da6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574041012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574041004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574041020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574041037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574041047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574041028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,275.2,682.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "deab903b0b644d7a984c552968026631_556ab652a56e4094931ad33de3d58da6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574041012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574041004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574041020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574041037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574041047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574041028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,693.3,497.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "deab903b0b644d7a984c552968026631_556ab652a56e4094931ad33de3d58da6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574041012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574041004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574041020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574041037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574041047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574041028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,693.3,497.5>? 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": "deab903b0b644d7a984c552968026631_556ab652a56e4094931ad33de3d58da6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574041012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574041004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574041020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574041037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574041047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574041028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,693.3,497.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "deab903b0b644d7a984c552968026631_556ab652a56e4094931ad33de3d58da6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574041012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574041004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574041020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574041037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574041047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574041028113.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "deab903b0b644d7a984c552968026631_556ab652a56e4094931ad33de3d58da6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574041012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574041004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574041020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574041037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574041047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574041028113.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": "deab903b0b644d7a984c552968026631_a9af899ec429471ea14159e7561b98be_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574055512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574055504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574055520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574055537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574055547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574055528113.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 small car to the back of the ego vehicle, a black sedan to the front of the ego vehicle, a red car to the front of the ego vehicle, a white commercial vehicle to the back left of the ego vehicle, a white sedan to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,743.3,505.8>, <c2,CAM_FRONT,1077.5,521.7>, <c3,CAM_FRONT,999.2,510.8>, <c4,CAM_BACK_LEFT,989.2,619.2>, <c5,CAM_FRONT,34.2,577.5>, and <c6,CAM_BACK,933.3,498.3>."
            }
        ]
    },
    {
        "id": "deab903b0b644d7a984c552968026631_a9af899ec429471ea14159e7561b98be_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574055512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574055504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574055520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574055537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574055547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574055528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,743.3,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "deab903b0b644d7a984c552968026631_a9af899ec429471ea14159e7561b98be_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574055512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574055504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574055520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574055537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574055547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574055528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,743.3,505.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "deab903b0b644d7a984c552968026631_a9af899ec429471ea14159e7561b98be_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574055512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574055504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574055520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574055537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574055547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574055528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,743.3,505.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to accelerate and go ahead. The reason for taking this action is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "deab903b0b644d7a984c552968026631_a9af899ec429471ea14159e7561b98be_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574055512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574055504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574055520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574055537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574055547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574055528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,743.3,505.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "deab903b0b644d7a984c552968026631_a9af899ec429471ea14159e7561b98be_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574055512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574055504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574055520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574055537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574055547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574055528113.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": "Accelerate and go ahead, slightly offset to the left, or slightly offset to the right."
            }
        ]
    },
    {
        "id": "deab903b0b644d7a984c552968026631_a9af899ec429471ea14159e7561b98be_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574055512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574055504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574055520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574055537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574055547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574055528113.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": "e0a22086a94f48e5bbd4c4e7916b2106_7f4dc2ad6f6f4bd8807ae0b5a755cff5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281530162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281530154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281530170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281530187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281530197696.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281530177893.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 bicycle to the front left of the ego vehicle, a man wearing a white shirt to the back left of the ego vehicle, and a red and white speed limit sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,65.0,538.3>, <c2,CAM_BACK_LEFT,435.0,575.0>, and <c3,CAM_FRONT_RIGHT,480.8,421.1>."
            }
        ]
    },
    {
        "id": "e0a22086a94f48e5bbd4c4e7916b2106_7f4dc2ad6f6f4bd8807ae0b5a755cff5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281530162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281530154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281530170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281530187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281530197696.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281530177893.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 <c1,CAM_FRONT_LEFT,65.0,538.3>. It is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice <c3,CAM_FRONT_RIGHT,480.8,421.1>. It is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Thirdly notice <c2,CAM_BACK_LEFT,435.0,575.0>. It is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "e0a22086a94f48e5bbd4c4e7916b2106_7f4dc2ad6f6f4bd8807ae0b5a755cff5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281530162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281530154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281530170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281530187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281530197696.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281530177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,65.0,538.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e0a22086a94f48e5bbd4c4e7916b2106_7f4dc2ad6f6f4bd8807ae0b5a755cff5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281530162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281530154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281530170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281530187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281530197696.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281530177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,65.0,538.3>? 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": "e0a22086a94f48e5bbd4c4e7916b2106_7f4dc2ad6f6f4bd8807ae0b5a755cff5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281530162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281530154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281530170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281530187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281530197696.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281530177893.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 left."
            }
        ]
    },
    {
        "id": "e0a22086a94f48e5bbd4c4e7916b2106_7f4dc2ad6f6f4bd8807ae0b5a755cff5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281530162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281530154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281530170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281530187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281530197696.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281530177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,65.0,538.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "e0a22086a94f48e5bbd4c4e7916b2106_7f4dc2ad6f6f4bd8807ae0b5a755cff5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281530162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281530154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281530170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281530187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281530197696.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281530177893.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": "37a37b06ba5e4f978fc6cb77e90f2498_2fc1784f352a487ca59a69dfed16190f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658987362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658987354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658987370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658987387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658987397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658987378113.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 sedan to the front left of the ego vehicle, a white truck to the front left of the ego vehicle, a white sedan to the back of the ego vehicle, a gray sedan to the front left of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,511.0,547.5>, <c2,CAM_FRONT_LEFT,1007.5,495.8>, <c3,CAM_FRONT_LEFT,1362.5,453.3>, <c4,CAM_BACK,93.7,615.8>, <c5,CAM_FRONT_LEFT,1219.2,493.3>, and <c6,CAM_FRONT,1179.2,570.8>."
            }
        ]
    },
    {
        "id": "37a37b06ba5e4f978fc6cb77e90f2498_2fc1784f352a487ca59a69dfed16190f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658987362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658987354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658987370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658987387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658987397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658987378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,511.0,547.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "37a37b06ba5e4f978fc6cb77e90f2498_2fc1784f352a487ca59a69dfed16190f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658987362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658987354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658987370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658987387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658987397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658987378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,511.0,547.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "37a37b06ba5e4f978fc6cb77e90f2498_2fc1784f352a487ca59a69dfed16190f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658987362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658987354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658987370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658987387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658987397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658987378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,511.0,547.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is to avoid a collision, which is high probability."
            }
        ]
    },
    {
        "id": "37a37b06ba5e4f978fc6cb77e90f2498_2fc1784f352a487ca59a69dfed16190f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658987362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658987354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658987370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658987387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658987397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658987378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,511.0,547.5>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "37a37b06ba5e4f978fc6cb77e90f2498_2fc1784f352a487ca59a69dfed16190f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658987362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658987354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658987370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658987387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658987397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658987378113.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, slightly offset to the right, decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "37a37b06ba5e4f978fc6cb77e90f2498_2fc1784f352a487ca59a69dfed16190f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658987362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658987354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658987370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658987387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658987397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658987378113.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": "43017e1e57174925ae241b2ebff7991b_75208493408a46cc91e5d79138f490c9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932174912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932174904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932174920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932174937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932174947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932174927894.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 of the ego vehicle, a black motorcycle to the front of the ego vehicle, and a blue and white traffic sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,841.7,557.5>, <c2,CAM_FRONT,619.2,557.5>, and <c3,CAM_FRONT_RIGHT,1033.7,246.0>."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_75208493408a46cc91e5d79138f490c9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932174912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932174904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932174920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932174937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932174947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932174927894.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,841.7,557.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_75208493408a46cc91e5d79138f490c9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932174912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932174904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932174920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932174937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932174947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932174927894.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 <c3,CAM_FRONT_RIGHT,1033.7,246.0>. The object is a traffic sign and the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,619.2,557.5>. The object is stationary and the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,841.7,557.5>. The object is moving ahead and the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_75208493408a46cc91e5d79138f490c9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932174912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932174904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932174920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932174937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932174947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932174927894.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,841.7,557.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_75208493408a46cc91e5d79138f490c9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932174912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932174904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932174920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932174937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932174947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932174927894.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,841.7,557.5>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_75208493408a46cc91e5d79138f490c9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932174912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932174904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932174920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932174937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932174947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932174927894.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,841.7,557.5>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_75208493408a46cc91e5d79138f490c9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932174912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932174904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932174920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932174937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932174947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932174927894.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": "43017e1e57174925ae241b2ebff7991b_75208493408a46cc91e5d79138f490c9_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932174912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932174904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932174920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932174937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932174947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932174927894.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": "43017e1e57174925ae241b2ebff7991b_8fc8d97d3bd54c87bf5f92d5f8bcd226_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932172862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932172854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932172870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932172887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932172897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932172877893.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 of the ego vehicle, a woman wearing gray pants to the back left of the ego vehicle, a woman wearing light blue jeans 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 <c1,CAM_FRONT,724.2,555.0>, <c2,CAM_BACK_LEFT,204.2,651.7>, <c3,CAM_FRONT_LEFT,984.2,529.2>, and <c4,CAM_FRONT,873.3,523.3>."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_8fc8d97d3bd54c87bf5f92d5f8bcd226_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932172862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932172854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932172870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932172887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932172897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932172877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_FRONT,873.3,523.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_8fc8d97d3bd54c87bf5f92d5f8bcd226_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932172862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932172854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932172870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932172887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932172897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932172877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,724.2,555.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_8fc8d97d3bd54c87bf5f92d5f8bcd226_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932172862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932172854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932172870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932172887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932172897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932172877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,724.2,555.0>? 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 maintain a safe distance, which is high in probability."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_8fc8d97d3bd54c87bf5f92d5f8bcd226_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932172862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932172854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932172870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932172887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932172897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932172877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK_LEFT,204.2,651.7>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_8fc8d97d3bd54c87bf5f92d5f8bcd226_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932172862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932172854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932172870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932172887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932172897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932172877893.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": "43017e1e57174925ae241b2ebff7991b_8fc8d97d3bd54c87bf5f92d5f8bcd226_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932172862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932172854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932172870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932172887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932172897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932172877893.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": "43017e1e57174925ae241b2ebff7991b_5aa86892d14c4efe8d00a54ab3c34e77_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932160912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932160904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932160920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932160937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932160947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932160927893.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 front left of the ego vehicle, a woman in white pants to the front of the ego vehicle, a black-vested man to the front of the ego vehicle, and an orange billboard to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1402.6,615.8>, <c2,CAM_FRONT,977.5,510.8>, <c3,CAM_FRONT,350.8,512.5>, and <c4,CAM_FRONT,1157.3,521.4>."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_5aa86892d14c4efe8d00a54ab3c34e77_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932160912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932160904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932160920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932160937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932160947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932160927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,977.5,510.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_5aa86892d14c4efe8d00a54ab3c34e77_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932160912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932160904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932160920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932160937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932160947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932160927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1402.6,615.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_5aa86892d14c4efe8d00a54ab3c34e77_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932160912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932160904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932160920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932160937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932160947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932160927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1402.6,615.8>? 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": "43017e1e57174925ae241b2ebff7991b_5aa86892d14c4efe8d00a54ab3c34e77_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932160912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932160904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932160920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932160937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932160947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932160927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1402.6,615.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_5aa86892d14c4efe8d00a54ab3c34e77_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932160912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932160904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932160920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932160937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932160947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932160927893.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, change to the right lane, slightly offset to the right."
            }
        ]
    },
    {
        "id": "43017e1e57174925ae241b2ebff7991b_5aa86892d14c4efe8d00a54ab3c34e77_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932160912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932160904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932160920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932160937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932160947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932160927893.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": "01c8c59260db4a3682d7b4f8da65425e_36db39bdcc7546a5b35611612fe39c11_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113389362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113389354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113389370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113389387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113389397425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113389377893.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 of the ego vehicle, a blue and white coach to the back left of the ego vehicle, and a no pedestrian crossing sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,775.8,500.8>, <c2,CAM_BACK_LEFT,758.0,452.4>, and <c3,CAM_FRONT,665.4,467.4>."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_36db39bdcc7546a5b35611612fe39c11_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113389362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113389354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113389370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113389387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113389397425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113389377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK_LEFT,758.0,452.4>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_36db39bdcc7546a5b35611612fe39c11_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113389362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113389354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113389370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113389387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113389397425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113389377893.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 <c3,CAM_FRONT,665.4,467.4>. The object is a traffic sign, so the ego vehicle should slow down and continue. Secondly, notice <c1,CAM_FRONT,775.8,500.8>. The object is stationary, so the ego vehicle should slightly move to the right. Thirdly, notice <c2,CAM_BACK_LEFT,758.0,452.4>. The object is moving forward, so the ego vehicle should continue at the same speed."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_36db39bdcc7546a5b35611612fe39c11_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113389362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113389354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113389370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113389387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113389397425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113389377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,775.8,500.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_36db39bdcc7546a5b35611612fe39c11_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113389362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113389354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113389370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113389387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113389397425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113389377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,775.8,500.8>? 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 for taking this action is to avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_36db39bdcc7546a5b35611612fe39c11_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113389362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113389354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113389370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113389387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113389397425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113389377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,775.8,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_36db39bdcc7546a5b35611612fe39c11_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113389362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113389354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113389370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113389387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113389397425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113389377893.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 slightly offset to the left."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_36db39bdcc7546a5b35611612fe39c11_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113389362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113389354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113389370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113389387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113389397425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113389377893.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": "01c8c59260db4a3682d7b4f8da65425e_fc6f81df6c154e5699b9d9ef5dbce79c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113397362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113397354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113397370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113397387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113397397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113397377893.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 black traffic light to the front of the ego vehicle, and a left turn arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,616.7,475.8>, <c2,CAM_FRONT,468.9,452.6>, and <c3,CAM_FRONT,718.5,558.9>."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_fc6f81df6c154e5699b9d9ef5dbce79c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113397362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113397354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113397370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113397387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113397397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113397377893.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 <c3,CAM_FRONT,718.5,558.9>. It is a traffic sign, so the ego vehicle should turn left. Secondly, notice <c1,CAM_FRONT,616.7,475.8>. It is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c2,CAM_FRONT,468.9,452.6>. It is a traffic sign, so the ego vehicle should decelerate gradually until it comes to a stop."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_fc6f81df6c154e5699b9d9ef5dbce79c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113397362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113397354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113397370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113397387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113397397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113397377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,616.7,475.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_fc6f81df6c154e5699b9d9ef5dbce79c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113397362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113397354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113397370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113397387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113397397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113397377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,616.7,475.8>? 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, which is high probability."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_fc6f81df6c154e5699b9d9ef5dbce79c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113397362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113397354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113397370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113397387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113397397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113397377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,616.7,475.8>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_fc6f81df6c154e5699b9d9ef5dbce79c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113397362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113397354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113397370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113397387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113397397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113397377893.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, slightly offset to the right, change to the left lane, or change to the right lane."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_fc6f81df6c154e5699b9d9ef5dbce79c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113397362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113397354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113397370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113397387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113397397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113397377893.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": "01c8c59260db4a3682d7b4f8da65425e_a8a353ae8b684b58a38547bcd222280a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113393862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113393854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113393870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113393887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113393897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113393877893.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 man wearing jeans to the front of the ego vehicle, a black and red motorcycle to the front of the ego vehicle, and a right turn white arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,312.5,472.5>, <c2,CAM_FRONT,596.7,558.8>, and <c3,CAM_FRONT,812.3,596.2>."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_a8a353ae8b684b58a38547bcd222280a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113393862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113393854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113393870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113393887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113393897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113393877893.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 <c2,CAM_FRONT,596.7,558.8>. The object is stationary, so the ego vehicle should slightly offset to the right in maneuvering. Secondly, notice that <c3,CAM_FRONT,812.3,596.2>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT,312.5,472.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_a8a353ae8b684b58a38547bcd222280a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113393862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113393854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113393870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113393887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113393897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113393877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,312.5,472.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_a8a353ae8b684b58a38547bcd222280a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113393862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113393854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113393870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113393887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113393897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113393877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,312.5,472.5>? 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": "01c8c59260db4a3682d7b4f8da65425e_a8a353ae8b684b58a38547bcd222280a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113393862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113393854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113393870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113393887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113393897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113393877893.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, change to the right lane, decelerate gradually without braking, accelerate and continue, brake suddenly, brake gently to a stop."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_a8a353ae8b684b58a38547bcd222280a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113393862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113393854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113393870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113393887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113393897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113393877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,312.5,472.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn into the green belt and continue straight."
            }
        ]
    },
    {
        "id": "01c8c59260db4a3682d7b4f8da65425e_a8a353ae8b684b58a38547bcd222280a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113393862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113393854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113393870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113393887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113393897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113393877893.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": "1847e3fc11ab466d95f82e6c7031f33d_836c6b1710804ec8819a86f070ea1cdb_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033696262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033696254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033696270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033696287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033696297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033696277893.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 black SUV to the back of the ego vehicle, and a red car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,901.7,480.8>, <c2,CAM_BACK,832.5,515.0>, and <c3,CAM_BACK,757.5,601.7>."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_836c6b1710804ec8819a86f070ea1cdb_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033696262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033696254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033696270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033696287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033696297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033696277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,832.5,515.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_836c6b1710804ec8819a86f070ea1cdb_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033696262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033696254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033696270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033696287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033696297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033696277893.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 <c1,CAM_FRONT,901.7,480.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_BACK,757.5,601.7>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,832.5,515.0>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_836c6b1710804ec8819a86f070ea1cdb_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033696262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033696254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033696270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033696287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033696297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033696277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,901.7,480.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_836c6b1710804ec8819a86f070ea1cdb_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033696262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033696254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033696270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033696287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033696297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033696277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,901.7,480.8>? 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": "1847e3fc11ab466d95f82e6c7031f33d_836c6b1710804ec8819a86f070ea1cdb_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033696262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033696254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033696270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033696287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033696297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033696277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,901.7,480.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_836c6b1710804ec8819a86f070ea1cdb_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033696262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033696254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033696270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033696287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033696297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033696277893.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": "1847e3fc11ab466d95f82e6c7031f33d_836c6b1710804ec8819a86f070ea1cdb_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033696262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033696254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033696270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033696287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033696297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033696277893.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": "1847e3fc11ab466d95f82e6c7031f33d_7476331197fb4f2e84a2d1f576323523_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033709412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033709404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033709420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033709437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033709447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033709427893.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 red and white sign to the back right of the ego vehicle, and a street lamp to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,738.3,604.2>, <c2,CAM_BACK_RIGHT,1388.7,369.5>, and <c3,CAM_FRONT,1136.6,342.1>."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_7476331197fb4f2e84a2d1f576323523_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033709412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033709404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033709420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033709437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033709447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033709427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,738.3,604.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_7476331197fb4f2e84a2d1f576323523_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033709412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033709404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033709420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033709437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033709447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033709427893.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": "First, notice <c3,CAM_FRONT,1136.6,342.1>, the object is a traffic light, so the ego vehicle should take no action. Second, notice <c1,CAM_BACK,738.3,604.2>, the object is going forward, so the ego vehicle should maintain speed and continue forward. Lastly, notice <c2,CAM_BACK_RIGHT,1388.7,369.5>, the object is a traffic sign, so the ego vehicle should maintain speed and continue forward."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_7476331197fb4f2e84a2d1f576323523_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033709412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033709404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033709420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033709437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033709447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033709427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,738.3,604.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_7476331197fb4f2e84a2d1f576323523_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033709412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033709404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033709420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033709437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033709447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033709427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,738.3,604.2>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_7476331197fb4f2e84a2d1f576323523_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033709412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033709404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033709420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033709437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033709447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033709427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,738.3,604.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_7476331197fb4f2e84a2d1f576323523_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033709412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033709404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033709420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033709437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033709447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033709427893.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": "1847e3fc11ab466d95f82e6c7031f33d_7476331197fb4f2e84a2d1f576323523_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033709412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033709404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033709420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033709437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033709447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033709427893.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": "1847e3fc11ab466d95f82e6c7031f33d_3e481c7784314e1da24fdde155daef20_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033706412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033706404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033706420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033706437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033706447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033706427893.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 right of the ego vehicle, a silver sedan to the front of the ego vehicle, a red car to the back of the ego vehicle, and a blue car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,809.2,696.5>, <c2,CAM_FRONT,1115.8,526.7>, <c3,CAM_BACK,760.8,610.8>, and <c4,CAM_FRONT,953.3,491.7>."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_3e481c7784314e1da24fdde155daef20_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033706412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033706404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033706420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033706437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033706447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033706427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,809.2,696.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_3e481c7784314e1da24fdde155daef20_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033706412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033706404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033706420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033706437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033706447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033706427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,809.2,696.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_3e481c7784314e1da24fdde155daef20_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033706412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033706404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033706420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033706437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033706447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033706427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,809.2,696.5>? 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 is high probability."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_3e481c7784314e1da24fdde155daef20_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033706412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033706404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033706420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033706437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033706447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033706427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,809.2,696.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_3e481c7784314e1da24fdde155daef20_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033706412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033706404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033706420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033706437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033706447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033706427893.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 ahead."
            }
        ]
    },
    {
        "id": "1847e3fc11ab466d95f82e6c7031f33d_3e481c7784314e1da24fdde155daef20_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033706412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033706404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033706420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033706437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033706447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033706427893.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": "bebf5f5b2a674631ab5c88fd1aa9e87a_91d9058720eb4c25a172236e14e11085_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385096862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385096854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385096870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385096887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385096897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385096878113.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 black sedan to the back of the ego vehicle, a grey bus to the front of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,298.3,494.2>, <c2,CAM_BACK,873.3,495.0>, <c3,CAM_FRONT,935.0,475.8>, and <c4,CAM_FRONT,591.7,545.8>."
            }
        ]
    },
    {
        "id": "bebf5f5b2a674631ab5c88fd1aa9e87a_91d9058720eb4c25a172236e14e11085_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385096862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385096854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385096870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385096887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385096897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385096878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,873.3,495.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bebf5f5b2a674631ab5c88fd1aa9e87a_91d9058720eb4c25a172236e14e11085_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385096862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385096854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385096870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385096887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385096897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385096878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,298.3,494.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bebf5f5b2a674631ab5c88fd1aa9e87a_91d9058720eb4c25a172236e14e11085_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385096862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385096854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385096870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385096887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385096897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385096878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,298.3,494.2>? 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": "bebf5f5b2a674631ab5c88fd1aa9e87a_91d9058720eb4c25a172236e14e11085_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385096862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385096854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385096870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385096887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385096897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385096878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,298.3,494.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "bebf5f5b2a674631ab5c88fd1aa9e87a_91d9058720eb4c25a172236e14e11085_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385096862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385096854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385096870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385096887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385096897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385096878113.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."
            }
        ]
    },
    {
        "id": "bebf5f5b2a674631ab5c88fd1aa9e87a_91d9058720eb4c25a172236e14e11085_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385096862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385096854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385096870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385096887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385096897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385096878113.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": "bebf5f5b2a674631ab5c88fd1aa9e87a_23799328f65843fc9e0c71f2bfbe90ef_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385093612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385093604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385093620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385093637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385093647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385093628113.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 black sedan to the back of the ego vehicle, a gray SUV to the front of the ego vehicle, and a white alien-shaped car to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,777.4,485.0>, <c2,CAM_BACK,850.7,495.0>, <c3,CAM_FRONT,1461.7,517.5>, and <c4,CAM_FRONT_LEFT,1272.5,464.2>."
            }
        ]
    },
    {
        "id": "bebf5f5b2a674631ab5c88fd1aa9e87a_23799328f65843fc9e0c71f2bfbe90ef_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385093612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385093604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385093620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385093637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385093647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385093628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,777.4,485.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bebf5f5b2a674631ab5c88fd1aa9e87a_23799328f65843fc9e0c71f2bfbe90ef_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385093612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385093604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385093620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385093637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385093647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385093628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,777.4,485.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bebf5f5b2a674631ab5c88fd1aa9e87a_23799328f65843fc9e0c71f2bfbe90ef_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385093612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385093604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385093620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385093637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385093647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385093628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,777.4,485.0>? 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": "bebf5f5b2a674631ab5c88fd1aa9e87a_23799328f65843fc9e0c71f2bfbe90ef_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385093612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385093604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385093620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385093637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385093647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385093628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,777.4,485.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "bebf5f5b2a674631ab5c88fd1aa9e87a_23799328f65843fc9e0c71f2bfbe90ef_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385093612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385093604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385093620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385093637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385093647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385093628113.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; keep going at the same speed."
            }
        ]
    },
    {
        "id": "bebf5f5b2a674631ab5c88fd1aa9e87a_23799328f65843fc9e0c71f2bfbe90ef_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385093612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385093604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385093620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385093637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385093647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385093628113.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": "82024d9f5f7f46dba436cd93c27173c7_3d70560bffe44ea09f8ecf8e0498ee08_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659140912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659140904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659140920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659140937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659140947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659140928113.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 right of the ego vehicle, a yellow forklift to the back of the ego vehicle, a black SUV to the back left of the ego vehicle, a gray sedan to the front of the ego vehicle, a black sedan car to the back of the ego vehicle, and a white pickup truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,587.6,454.4>, <c2,CAM_BACK,247.9,605.8>, <c3,CAM_BACK_LEFT,493.3,660.8>, <c4,CAM_FRONT,620.8,536.7>, <c5,CAM_BACK,915.0,535.0>, and <c6,CAM_FRONT_LEFT,222.5,479.2>."
            }
        ]
    },
    {
        "id": "82024d9f5f7f46dba436cd93c27173c7_3d70560bffe44ea09f8ecf8e0498ee08_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659140912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659140904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659140920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659140937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659140947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659140928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,247.9,605.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "82024d9f5f7f46dba436cd93c27173c7_3d70560bffe44ea09f8ecf8e0498ee08_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659140912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659140904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659140920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659140937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659140947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659140928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,587.6,454.4> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "82024d9f5f7f46dba436cd93c27173c7_3d70560bffe44ea09f8ecf8e0498ee08_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659140912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659140904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659140920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659140937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659140947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659140928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,587.6,454.4>? 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": "82024d9f5f7f46dba436cd93c27173c7_3d70560bffe44ea09f8ecf8e0498ee08_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659140912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659140904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659140920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659140937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659140947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659140928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,587.6,454.4>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "82024d9f5f7f46dba436cd93c27173c7_3d70560bffe44ea09f8ecf8e0498ee08_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659140912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659140904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659140920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659140937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659140947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659140928113.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": "Change to the left lane, slightly offset to the left, and decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "82024d9f5f7f46dba436cd93c27173c7_3d70560bffe44ea09f8ecf8e0498ee08_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659140912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659140904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659140920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659140937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659140947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659140928113.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": "82024d9f5f7f46dba436cd93c27173c7_ca24ce343f264339aef5266484647775_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659146404815.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659146428113.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, a silver sedan to the front of the ego vehicle, a traffic cone to the front of the ego vehicle, a white truck to the front right of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1149.2,543.3>, <c2,CAM_FRONT,519.2,545.0>, <c3,CAM_FRONT,157.5,665.8>, <c4,CAM_FRONT,1231.7,535.8>, <c5,CAM_FRONT_RIGHT,857.1,503.8>, and <c6,CAM_BACK,825.8,562.5>."
            }
        ]
    },
    {
        "id": "82024d9f5f7f46dba436cd93c27173c7_ca24ce343f264339aef5266484647775_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659146404815.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659146428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1149.2,543.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "82024d9f5f7f46dba436cd93c27173c7_ca24ce343f264339aef5266484647775_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659146404815.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659146428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1149.2,543.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to continue at the same speed. The reason is that there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "82024d9f5f7f46dba436cd93c27173c7_ca24ce343f264339aef5266484647775_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659146404815.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659146428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,519.2,545.0>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "82024d9f5f7f46dba436cd93c27173c7_ca24ce343f264339aef5266484647775_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659146404815.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659146428113.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": "82024d9f5f7f46dba436cd93c27173c7_ca24ce343f264339aef5266484647775_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659146412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659146404815.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659146420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659146437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659146447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659146428113.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": "82024d9f5f7f46dba436cd93c27173c7_f45bf0aec92a4a05a1e1dc9ec48e7d95_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659152262423.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659152254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659152270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659152287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659152297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659152278113.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 roadblock to the front right of the ego vehicle, a black sedan car to the front left of the ego vehicle, a gray minivan to the back of the ego vehicle, and a black SUV to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,162.2,608.3>, <c2,CAM_FRONT_RIGHT,1045.8,679.2>, <c3,CAM_FRONT_LEFT,1060.0,642.5>, <c4,CAM_BACK,880.0,508.3>, and <c5,CAM_BACK_LEFT,421.7,659.2>."
            }
        ]
    },
    {
        "id": "82024d9f5f7f46dba436cd93c27173c7_f45bf0aec92a4a05a1e1dc9ec48e7d95_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659152262423.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659152254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659152270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659152287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659152297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659152278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,880.0,508.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "82024d9f5f7f46dba436cd93c27173c7_f45bf0aec92a4a05a1e1dc9ec48e7d95_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659152262423.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659152254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659152270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659152287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659152297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659152278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,162.2,608.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "82024d9f5f7f46dba436cd93c27173c7_f45bf0aec92a4a05a1e1dc9ec48e7d95_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659152262423.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659152254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659152270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659152287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659152297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659152278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,162.2,608.3>? 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": "82024d9f5f7f46dba436cd93c27173c7_f45bf0aec92a4a05a1e1dc9ec48e7d95_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659152262423.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659152254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659152270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659152287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659152297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659152278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,162.2,608.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "82024d9f5f7f46dba436cd93c27173c7_f45bf0aec92a4a05a1e1dc9ec48e7d95_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659152262423.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659152254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659152270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659152287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659152297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659152278113.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": "82024d9f5f7f46dba436cd93c27173c7_f45bf0aec92a4a05a1e1dc9ec48e7d95_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659152262423.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659152254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659152270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659152287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659152297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659152278113.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": "b829278aae2747959f2a95423455bbcb_18827f57c05c4b8a89fc72d5edc03733_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293217762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293217754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293217770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293217787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293217797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293217778113.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 SUV to the front right of the ego vehicle, a gray sedan to the front right of the ego vehicle, a white SUV to the front right of the ego vehicle, pedestrians crossing the road to the front left of the ego vehicle, a white sedan to the front of the ego vehicle, and a white van to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1140.8,500.8>, <c2,CAM_FRONT_RIGHT,930.0,505.0>, <c3,CAM_FRONT_RIGHT,1382.5,497.5>, <c4,CAM_FRONT_LEFT,847.5,516.7>, <c5,CAM_FRONT,523.3,532.5>, and <c6,CAM_FRONT,822.5,495.0>."
            }
        ]
    },
    {
        "id": "b829278aae2747959f2a95423455bbcb_18827f57c05c4b8a89fc72d5edc03733_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293217762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293217754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293217770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293217787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293217797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293217778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_FRONT_LEFT,847.5,516.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b829278aae2747959f2a95423455bbcb_18827f57c05c4b8a89fc72d5edc03733_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293217762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293217754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293217770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293217787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293217797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293217778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1140.8,500.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b829278aae2747959f2a95423455bbcb_18827f57c05c4b8a89fc72d5edc03733_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293217762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293217754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293217770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293217787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293217797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293217778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1140.8,500.8>? 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": "b829278aae2747959f2a95423455bbcb_18827f57c05c4b8a89fc72d5edc03733_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293217762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293217754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293217770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293217787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293217797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293217778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1140.8,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "b829278aae2747959f2a95423455bbcb_18827f57c05c4b8a89fc72d5edc03733_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293217762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293217754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293217770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293217787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293217797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293217778113.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": "b829278aae2747959f2a95423455bbcb_18827f57c05c4b8a89fc72d5edc03733_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293217762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293217754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293217770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293217787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293217797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293217778113.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": "b487d499e93e44caaf6c3dc884225fa2_6a91c65172ae4bbbaf6277bb87881630_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107785412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107785404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107785420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107785437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107785447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107785427893.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 SUV to the back of the ego vehicle, and a blue bus to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1051.7,525.0>, <c2,CAM_BACK,871.7,609.2>, and <c3,CAM_FRONT_RIGHT,569.9,448.9>."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_6a91c65172ae4bbbaf6277bb87881630_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107785412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107785404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107785420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107785437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107785447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107785427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1051.7,525.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_6a91c65172ae4bbbaf6277bb87881630_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107785412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107785404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107785420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107785437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107785447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107785427893.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 <c3,CAM_FRONT_RIGHT,569.9,448.9>. The object is stationary, so the ego vehicle should continue moving forward at the same speed. Secondly, notice that <c1,CAM_FRONT,1051.7,525.0>. The object is stationary, so the ego vehicle should continue moving forward at the same speed. Thirdly, notice that <c2,CAM_BACK,871.7,609.2>. The object is moving forward, so the ego vehicle should continue moving forward at the same speed."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_6a91c65172ae4bbbaf6277bb87881630_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107785412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107785404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107785420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107785437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107785447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107785427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1051.7,525.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_6a91c65172ae4bbbaf6277bb87881630_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107785412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107785404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107785420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107785437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107785447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107785427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1051.7,525.0>? 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 probability."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_6a91c65172ae4bbbaf6277bb87881630_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107785412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107785404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107785420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107785437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107785447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107785427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1051.7,525.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_6a91c65172ae4bbbaf6277bb87881630_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107785412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107785404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107785420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107785437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107785447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107785427893.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": "b487d499e93e44caaf6c3dc884225fa2_6a91c65172ae4bbbaf6277bb87881630_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107785412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107785404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107785420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107785437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107785447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107785427893.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": "b487d499e93e44caaf6c3dc884225fa2_a38deb7810084a1ab032c018746c702e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107789762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107789754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107789770866.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107789787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107789797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107789777893.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 black pants to the front of the ego vehicle, a white sedan to the back of the ego vehicle, and a white straight or left or right arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,980.0,499.2>, <c2,CAM_BACK,790.0,565.0>, and <c3,CAM_FRONT,823.1,623.8>."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_a38deb7810084a1ab032c018746c702e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107789762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107789754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107789770866.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107789787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107789797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107789777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,980.0,499.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_a38deb7810084a1ab032c018746c702e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107789762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107789754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107789770866.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107789787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107789797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107789777893.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 <c3,CAM_FRONT,823.1,623.8>. The object is a traffic sign, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,980.0,499.2>. The object is going ahead, so the ego vehicle should slow down and continue going ahead. Thirdly, notice that <c2,CAM_BACK,790.0,565.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_a38deb7810084a1ab032c018746c702e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107789762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107789754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107789770866.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107789787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107789797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107789777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,980.0,499.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_a38deb7810084a1ab032c018746c702e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107789762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107789754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107789770866.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107789787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107789797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107789777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,980.0,499.2>? 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": "b487d499e93e44caaf6c3dc884225fa2_a38deb7810084a1ab032c018746c702e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107789762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107789754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107789770866.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107789787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107789797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107789777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,980.0,499.2>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT,980.0,499.2>."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_a38deb7810084a1ab032c018746c702e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107789762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107789754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107789770866.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107789787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107789797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107789777893.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 right, accelerate, and continue ahead."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_a38deb7810084a1ab032c018746c702e_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107789762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107789754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107789770866.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107789787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107789797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107789777893.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": "b487d499e93e44caaf6c3dc884225fa2_84aa26374a5c4dda8d757d4a4e6e2335_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107795162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107795154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107795170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107795187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107795197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107795177893.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 preparing to cross the road to the front right of the ego vehicle, a white sedan car to the back of the ego vehicle, and a slow down to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,444.2,594.2>, <c2,CAM_BACK,845.0,524.2>, and <c3,CAM_FRONT,670.2,381.1>."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_84aa26374a5c4dda8d757d4a4e6e2335_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107795162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107795154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107795170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107795187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107795197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107795177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,845.0,524.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_84aa26374a5c4dda8d757d4a4e6e2335_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107795162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107795154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107795170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107795187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107795197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107795177893.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 <c3,CAM_FRONT,670.2,381.1>. The object is a traffic sign, so the ego vehicle should slow down and continue ahead. Secondly, notice <c1,CAM_FRONT_RIGHT,444.2,594.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_BACK,845.0,524.2>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_84aa26374a5c4dda8d757d4a4e6e2335_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107795162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107795154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107795170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107795187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107795197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107795177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,444.2,594.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_84aa26374a5c4dda8d757d4a4e6e2335_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107795162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107795154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107795170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107795187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107795197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107795177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,444.2,594.2>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_84aa26374a5c4dda8d757d4a4e6e2335_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107795162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107795154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107795170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107795187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107795197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107795177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,444.2,594.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_84aa26374a5c4dda8d757d4a4e6e2335_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107795162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107795154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107795170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107795187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107795197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107795177893.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 turn left."
            }
        ]
    },
    {
        "id": "b487d499e93e44caaf6c3dc884225fa2_84aa26374a5c4dda8d757d4a4e6e2335_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107795162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107795154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107795170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107795187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107795197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107795177893.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": "5c6620829a1f492b8482218670aa0541_b18a3c2f7bef4255ab2d5bb84a905d37_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033864862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033864854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033864870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033864887536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033864897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033864877893.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 black sedan to the back of the ego vehicle, and a person riding a black motorcycle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1159.2,508.3>, <c2,CAM_BACK,831.7,514.2>, and <c3,CAM_FRONT,896.7,495.0>."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_b18a3c2f7bef4255ab2d5bb84a905d37_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033864862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033864854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033864870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033864887536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033864897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033864877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,831.7,514.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_b18a3c2f7bef4255ab2d5bb84a905d37_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033864862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033864854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033864870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033864887536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033864897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033864877893.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 <c3,CAM_FRONT,896.7,495.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c1,CAM_FRONT,1159.2,508.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK,831.7,514.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_b18a3c2f7bef4255ab2d5bb84a905d37_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033864862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033864854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033864870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033864887536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033864897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033864877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1159.2,508.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_b18a3c2f7bef4255ab2d5bb84a905d37_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033864862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033864854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033864870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033864887536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033864897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033864877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1159.2,508.3>? 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": "5c6620829a1f492b8482218670aa0541_b18a3c2f7bef4255ab2d5bb84a905d37_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033864862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033864854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033864870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033864887536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033864897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033864877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1159.2,508.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_b18a3c2f7bef4255ab2d5bb84a905d37_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033864862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033864854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033864870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033864887536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033864897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033864877893.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": "5c6620829a1f492b8482218670aa0541_b18a3c2f7bef4255ab2d5bb84a905d37_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033864862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033864854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033864870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033864887536.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033864897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033864877893.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": "5c6620829a1f492b8482218670aa0541_cb7e40b70225494eadf981024e210dfc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033861362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033861354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033861370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033861387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033861397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033861377893.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 brown business car to the back of the ego vehicle, a gray van to the front of the ego vehicle, and a gray sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,802.5,498.3>, <c2,CAM_FRONT,983.3,494.2>, and <c3,CAM_BACK,850.8,500.0>."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_cb7e40b70225494eadf981024e210dfc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033861362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033861354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033861370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033861387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033861397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033861377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,802.5,498.3>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_cb7e40b70225494eadf981024e210dfc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033861362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033861354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033861370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033861387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033861397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033861377893.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 <c2,CAM_FRONT,983.3,494.2>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly notice <c3,CAM_BACK,850.8,500.0>. It is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly notice <c1,CAM_BACK,802.5,498.3>. It is turning left, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_cb7e40b70225494eadf981024e210dfc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033861362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033861354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033861370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033861387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033861397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033861377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,802.5,498.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_cb7e40b70225494eadf981024e210dfc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033861362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033861354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033861370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033861387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033861397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033861377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,802.5,498.3>? 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 taking this action is that the object has little reference value for the ego vehicle, which is high in probability."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_cb7e40b70225494eadf981024e210dfc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033861362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033861354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033861370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033861387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033861397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033861377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,983.3,494.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_cb7e40b70225494eadf981024e210dfc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033861362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033861354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033861370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033861387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033861397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033861377893.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": "5c6620829a1f492b8482218670aa0541_cb7e40b70225494eadf981024e210dfc_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033861362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033861354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033861370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033861387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033861397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033861377893.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": "5c6620829a1f492b8482218670aa0541_dd9f70ac21404d179b2fb1ee199c588c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033870447427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033870427893.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 of the ego vehicle, a electric car to the back of the ego vehicle, and a white traffic sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,833.3,519.2>, <c2,CAM_BACK,773.3,514.2>, and <c3,CAM_FRONT,1039.6,451.1>."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_dd9f70ac21404d179b2fb1ee199c588c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033870447427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033870427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,833.3,519.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_dd9f70ac21404d179b2fb1ee199c588c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033870447427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033870427893.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": "First, notice <c3,CAM_FRONT,1039.6,451.1>, which is in an undetermined state, so the ego vehicle should maintain speed and continue forward. Second, notice <c1,CAM_BACK,833.3,519.2>, which is moving forward, so the ego vehicle should maintain speed and continue forward. Lastly, notice <c2,CAM_BACK,773.3,514.2>, which is moving forward, so the ego vehicle should maintain speed and continue forward."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_dd9f70ac21404d179b2fb1ee199c588c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033870447427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033870427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,833.3,519.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_dd9f70ac21404d179b2fb1ee199c588c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033870447427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033870427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,833.3,519.2>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_dd9f70ac21404d179b2fb1ee199c588c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033870447427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033870427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,833.3,519.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_dd9f70ac21404d179b2fb1ee199c588c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033870447427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033870427893.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": "5c6620829a1f492b8482218670aa0541_dd9f70ac21404d179b2fb1ee199c588c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033870412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033870447427.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033870427893.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": "5c6620829a1f492b8482218670aa0541_706c2bab659641a78137a6f9a34e2950_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033867912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033867904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033867920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033867937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033867947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033867927906.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 back right of the ego vehicle, a white sedan to the back of the ego vehicle, and a man riding an electric bike to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1040.0,615.0>, <c2,CAM_BACK,830.0,514.2>, and <c3,CAM_FRONT_RIGHT,388.7,683.0>."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_706c2bab659641a78137a6f9a34e2950_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033867912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033867904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033867920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033867937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033867947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033867927906.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,830.0,514.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_706c2bab659641a78137a6f9a34e2950_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033867912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033867904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033867920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033867937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033867947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033867927906.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 <c3,CAM_FRONT_RIGHT,388.7,683.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c2,CAM_BACK,830.0,514.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK_RIGHT,1040.0,615.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_706c2bab659641a78137a6f9a34e2950_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033867912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033867904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033867920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033867937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033867947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033867927906.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1040.0,615.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_706c2bab659641a78137a6f9a34e2950_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033867912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033867904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033867920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033867937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033867947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033867927906.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1040.0,615.0>? 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": "5c6620829a1f492b8482218670aa0541_706c2bab659641a78137a6f9a34e2950_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033867912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033867904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033867920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033867937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033867947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033867927906.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,1040.0,615.0>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK_RIGHT,1040.0,615.0>."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_706c2bab659641a78137a6f9a34e2950_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033867912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033867904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033867920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033867937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033867947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033867927906.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": "Accelerate and go ahead, and continue going at the same speed."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_706c2bab659641a78137a6f9a34e2950_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033867912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033867904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033867920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033867937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033867947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033867927906.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": "5c6620829a1f492b8482218670aa0541_67b22c6b82b5403dae50d7e9242d375c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033855362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033855354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033855370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033855387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033855397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033855377893.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 right of the ego vehicle, a white sedan to the back of the ego vehicle, and a blue sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,414.2,561.7>, <c2,CAM_BACK,722.2,532.3>, and <c3,CAM_BACK_RIGHT,217.7,363.2>."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_67b22c6b82b5403dae50d7e9242d375c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033855362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033855354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033855370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033855387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033855397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033855377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,414.2,561.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_67b22c6b82b5403dae50d7e9242d375c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033855362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033855354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033855370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033855387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033855397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033855377893.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 <c1,CAM_BACK_RIGHT,414.2,561.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_BACK_RIGHT,217.7,363.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,722.2,532.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_67b22c6b82b5403dae50d7e9242d375c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033855362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033855354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033855370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033855387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033855397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033855377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,414.2,561.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_67b22c6b82b5403dae50d7e9242d375c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033855362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033855354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033855370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033855387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033855397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033855377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,414.2,561.7>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_67b22c6b82b5403dae50d7e9242d375c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033855362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033855354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033855370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033855387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033855397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033855377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,414.2,561.7>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "5c6620829a1f492b8482218670aa0541_67b22c6b82b5403dae50d7e9242d375c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033855362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033855354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033855370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033855387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033855397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033855377893.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": "5c6620829a1f492b8482218670aa0541_67b22c6b82b5403dae50d7e9242d375c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033855362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033855354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033855370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033855387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033855397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033855377893.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": "bc8f2774ff4946d3965a807a6aa1b64f_537b2b2b306744efbb84da26da55fa8f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707767162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707767154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707767170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707767187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707767197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707767178113.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 right of the ego vehicle, a white sedan to the front right of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,685.0,583.3>, <c2,CAM_FRONT_RIGHT,136.7,575.8>, and <c3,CAM_BACK,1126.3,639.1>."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_537b2b2b306744efbb84da26da55fa8f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707767162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707767154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707767170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707767187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707767197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707767178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,685.0,583.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_537b2b2b306744efbb84da26da55fa8f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707767162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707767154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707767170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707767187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707767197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707767178113.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 <c1,CAM_FRONT_RIGHT,685.0,583.3>. The object is going ahead, so the ego vehicle should decelerate gradually until it comes to a stop. Secondly, notice that <c2,CAM_FRONT_RIGHT,136.7,575.8>. The object is stationary, so the ego vehicle should keep stationary. Thirdly, notice that <c3,CAM_BACK,1126.3,639.1>. The object is stationary, so the ego vehicle should keep stationary."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_537b2b2b306744efbb84da26da55fa8f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707767162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707767154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707767170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707767187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707767197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707767178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,685.0,583.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_537b2b2b306744efbb84da26da55fa8f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707767162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707767154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707767170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707767187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707767197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707767178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,685.0,583.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary because there is no safety issue, with a high probability."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_537b2b2b306744efbb84da26da55fa8f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707767162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707767154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707767170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707767187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707767197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707767178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,685.0,583.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_537b2b2b306744efbb84da26da55fa8f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707767162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707767154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707767170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707767187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707767197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707767178113.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, turn right, and turn left are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_537b2b2b306744efbb84da26da55fa8f_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707767162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707767154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707767170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707767187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707767197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707767178113.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": "bc8f2774ff4946d3965a807a6aa1b64f_9711f25437254f7db7fae3566dcb6e66_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707774762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707774754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707774770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707774787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707774797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707774778113.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 commercial vehicle to the front right of the ego vehicle, and a blue car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,349.2,542.5>, <c2,CAM_FRONT_RIGHT,252.1,577.5>, and <c3,CAM_BACK,1086.7,656.7>."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_9711f25437254f7db7fae3566dcb6e66_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707774762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707774754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707774770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707774787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707774797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707774778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,252.1,577.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_9711f25437254f7db7fae3566dcb6e66_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707774762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707774754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707774770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707774787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707774797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707774778113.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 <c1,CAM_FRONT,349.2,542.5>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c2,CAM_FRONT_RIGHT,252.1,577.5>. It is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c3,CAM_BACK,1086.7,656.7>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_9711f25437254f7db7fae3566dcb6e66_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707774762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707774754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707774770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707774787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707774797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707774778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,349.2,542.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_9711f25437254f7db7fae3566dcb6e66_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707774762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707774754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707774770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707774787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707774797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707774778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,349.2,542.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary, the reason is there is no safety issue, high."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_9711f25437254f7db7fae3566dcb6e66_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707774762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707774754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707774770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707774787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707774797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707774778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,349.2,542.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,349.2,542.5>."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_9711f25437254f7db7fae3566dcb6e66_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707774762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707774754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707774770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707774787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707774797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707774778113.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 suddenly and turn right."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_9711f25437254f7db7fae3566dcb6e66_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707774762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707774754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707774770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707774787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707774797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707774778113.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": "bc8f2774ff4946d3965a807a6aa1b64f_07d09f687a7c494fa8237c511fea0fe8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707769162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707769154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707769170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707769187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707769197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707769178113.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 front right of the ego vehicle, a black car to the back of the ego vehicle, and a black commercial vehicle to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,263.3,561.7>, <c2,CAM_BACK,1108.6,656.2>, and <c3,CAM_FRONT_LEFT,969.2,563.3>."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_07d09f687a7c494fa8237c511fea0fe8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707769162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707769154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707769170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707769187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707769197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707769178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,1108.6,656.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_07d09f687a7c494fa8237c511fea0fe8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707769162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707769154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707769170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707769187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707769197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707769178113.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 <c3,CAM_FRONT_LEFT,969.2,563.3>. The object is going ahead, so the ego vehicle should decelerate gradually until it comes to a stop. Secondly, notice that <c1,CAM_FRONT_RIGHT,263.3,561.7>. The object is stationary, so the ego vehicle should decelerate gradually until it comes to a stop. Thirdly, notice that <c2,CAM_BACK,1108.6,656.2>. The object is turning left, so the ego vehicle should decelerate gradually until it comes to a stop."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_07d09f687a7c494fa8237c511fea0fe8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707769162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707769154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707769170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707769187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707769197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707769178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,263.3,561.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_07d09f687a7c494fa8237c511fea0fe8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707769162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707769154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707769170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707769187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707769197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707769178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,263.3,561.7>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_07d09f687a7c494fa8237c511fea0fe8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707769162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707769154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707769170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707769187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707769197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707769178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,263.3,561.7>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_07d09f687a7c494fa8237c511fea0fe8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707769162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707769154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707769170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707769187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707769197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707769178113.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 brake suddenly."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_07d09f687a7c494fa8237c511fea0fe8_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707769162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707769154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707769170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707769187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707769197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707769178113.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": "bc8f2774ff4946d3965a807a6aa1b64f_23ed528a15b34a30bf2f96e9bf495b50_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707783262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707783254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707783270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707783287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707783297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707783278113.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 left of the ego vehicle, a white sedan to the front right of the ego vehicle, and a blue sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,550.8,511.7>, <c2,CAM_FRONT_RIGHT,315.0,551.7>, and <c3,CAM_BACK,1086.4,642.9>."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_23ed528a15b34a30bf2f96e9bf495b50_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707783262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707783254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707783270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707783287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707783297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707783278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,550.8,511.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_23ed528a15b34a30bf2f96e9bf495b50_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707783262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707783254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707783270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707783287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707783297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707783278113.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 <c2,CAM_FRONT_RIGHT,315.0,551.7>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_LEFT,550.8,511.7>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,1086.4,642.9>. The object is stationary, so the ego vehicle should brake suddenly."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_23ed528a15b34a30bf2f96e9bf495b50_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707783262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707783254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707783270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707783287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707783297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707783278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,550.8,511.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_23ed528a15b34a30bf2f96e9bf495b50_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707783262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707783254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707783270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707783287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707783297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707783278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,550.8,511.7>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_23ed528a15b34a30bf2f96e9bf495b50_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707783262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707783254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707783270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707783287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707783297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707783278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_BACK,1086.4,642.9>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_23ed528a15b34a30bf2f96e9bf495b50_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707783262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707783254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707783270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707783287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707783297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707783278113.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 suddenly, slightly offset to the left, slightly offset to the right, and brake gently to a stop."
            }
        ]
    },
    {
        "id": "bc8f2774ff4946d3965a807a6aa1b64f_23ed528a15b34a30bf2f96e9bf495b50_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707783262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707783254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707783270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707783287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707783297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707783278113.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": "88084e0150d64dd1949a9cf1493e5188_21f8cf4d00d94c9ab335a9f615c1c9f5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279752112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279752104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279752120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279752137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279752147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279752127893.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 back of the ego vehicle, a red car 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 <c1,CAM_BACK,1033.3,600.0>, <c2,CAM_FRONT,825.8,500.8>, and <c3,CAM_FRONT,582.1,401.8>."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_21f8cf4d00d94c9ab335a9f615c1c9f5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279752112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279752104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279752120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279752137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279752147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279752127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1033.3,600.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_21f8cf4d00d94c9ab335a9f615c1c9f5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279752112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279752104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279752120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279752137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279752147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279752127893.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 <c3,CAM_FRONT,582.1,401.8>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,825.8,500.8>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,1033.3,600.0>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_21f8cf4d00d94c9ab335a9f615c1c9f5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279752112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279752104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279752120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279752137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279752147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279752127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1033.3,600.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_21f8cf4d00d94c9ab335a9f615c1c9f5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279752112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279752104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279752120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279752137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279752147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279752127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1033.3,600.0>? 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."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_21f8cf4d00d94c9ab335a9f615c1c9f5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279752112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279752104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279752120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279752137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279752147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279752127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1033.3,600.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_21f8cf4d00d94c9ab335a9f615c1c9f5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279752112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279752104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279752120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279752137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279752147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279752127893.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; keep going at the same speed."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_21f8cf4d00d94c9ab335a9f615c1c9f5_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279752112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279752104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279752120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279752137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279752147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279752127893.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 with normal speed."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_f39071d662524c0298fdf388f96d2bb3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279761162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279761154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279761170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279761187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279761197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279761177893.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 motorcycle to the back of the ego vehicle, and a white arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,110.0,483.3>, <c2,CAM_BACK,1102.5,546.7>, and <c3,CAM_FRONT,1014.4,581.7>."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_f39071d662524c0298fdf388f96d2bb3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279761162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279761154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279761170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279761187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279761197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279761177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,1102.5,546.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_f39071d662524c0298fdf388f96d2bb3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279761162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279761154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279761170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279761187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279761197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279761177893.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 <c1,CAM_FRONT,110.0,483.3>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,1014.4,581.7>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,1102.5,546.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_f39071d662524c0298fdf388f96d2bb3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279761162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279761154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279761170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279761187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279761197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279761177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,110.0,483.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_f39071d662524c0298fdf388f96d2bb3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279761162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279761154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279761170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279761187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279761197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279761177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,110.0,483.3>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_f39071d662524c0298fdf388f96d2bb3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279761162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279761154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279761170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279761187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279761197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279761177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,110.0,483.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_f39071d662524c0298fdf388f96d2bb3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279761162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279761154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279761170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279761187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279761197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279761177893.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 brake gently to a stop."
            }
        ]
    },
    {
        "id": "88084e0150d64dd1949a9cf1493e5188_f39071d662524c0298fdf388f96d2bb3_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279761162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279761154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279761170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279761187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279761197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279761177893.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": "21464a6831c1443db294d1b56a7a33a5_6aac8166f97a40b289f962cefe132649_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932310912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932310904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932310920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932310937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932310947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932310927893.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 of the ego vehicle, a black sedan to the back of the ego vehicle, and a unknown to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1080.8,653.3>, <c2,CAM_BACK,710.8,520.0>, and <c3,CAM_BACK_RIGHT,989.9,443.2>."
            }
        ]
    },
    {
        "id": "21464a6831c1443db294d1b56a7a33a5_6aac8166f97a40b289f962cefe132649_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932310912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932310904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932310920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932310937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932310947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932310927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,710.8,520.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "21464a6831c1443db294d1b56a7a33a5_6aac8166f97a40b289f962cefe132649_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932310912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932310904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932310920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932310937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932310947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932310927893.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 <c3,CAM_BACK_RIGHT,989.9,443.2>. It is a traffic sign, so the ego vehicle should turn left. Secondly, notice <c1,CAM_BACK,1080.8,653.3>. It is stationary, so the ego vehicle should continue straight at the same speed. Thirdly, notice <c2,CAM_BACK,710.8,520.0>. It is moving straight, so the ego vehicle should continue straight at the same speed."
            }
        ]
    },
    {
        "id": "21464a6831c1443db294d1b56a7a33a5_6aac8166f97a40b289f962cefe132649_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932310912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932310904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932310920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932310937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932310947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932310927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1080.8,653.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "21464a6831c1443db294d1b56a7a33a5_6aac8166f97a40b289f962cefe132649_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932310912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932310904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932310920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932310937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932310947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932310927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1080.8,653.3>? 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": "21464a6831c1443db294d1b56a7a33a5_6aac8166f97a40b289f962cefe132649_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932310912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932310904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932310920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932310937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932310947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932310927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1080.8,653.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "21464a6831c1443db294d1b56a7a33a5_6aac8166f97a40b289f962cefe132649_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932310912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932310904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932310920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932310937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932310947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932310927893.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": "Turning left, keeping going at the same speed, slightly offsetting to the left, and slightly offsetting to the right are safe actions for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "21464a6831c1443db294d1b56a7a33a5_6aac8166f97a40b289f962cefe132649_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932310912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932310904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932310920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932310937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932310947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932310927893.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": "21464a6831c1443db294d1b56a7a33a5_228f07f7c628485db99af43cc0961a57_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932306912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932306904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932306920352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932306937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932306947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932306927893.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 black sedan to the back of the ego vehicle, and a road sign to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,927.8,624.2>, <c2,CAM_BACK,490.0,539.2>, and <c3,CAM_BACK_RIGHT,264.5,432.6>."
            }
        ]
    },
    {
        "id": "21464a6831c1443db294d1b56a7a33a5_228f07f7c628485db99af43cc0961a57_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932306912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932306904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932306920352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932306937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932306947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932306927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,927.8,624.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "21464a6831c1443db294d1b56a7a33a5_228f07f7c628485db99af43cc0961a57_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932306912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932306904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932306920352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932306937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932306947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932306927893.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 <c3,CAM_BACK_RIGHT,264.5,432.6>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_BACK,927.8,624.2>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,490.0,539.2>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "21464a6831c1443db294d1b56a7a33a5_228f07f7c628485db99af43cc0961a57_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932306912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932306904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932306920352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932306937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932306947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932306927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,927.8,624.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "21464a6831c1443db294d1b56a7a33a5_228f07f7c628485db99af43cc0961a57_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932306912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932306904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932306920352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932306937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932306947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932306927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,927.8,624.2>? 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": "21464a6831c1443db294d1b56a7a33a5_228f07f7c628485db99af43cc0961a57_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932306912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932306904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932306920352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932306937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932306947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932306927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,490.0,539.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "21464a6831c1443db294d1b56a7a33a5_228f07f7c628485db99af43cc0961a57_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932306912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932306904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932306920352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932306937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932306947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932306927893.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, turn right."
            }
        ]
    },
    {
        "id": "21464a6831c1443db294d1b56a7a33a5_228f07f7c628485db99af43cc0961a57_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932306912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932306904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932306920352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932306937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932306947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932306927893.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": "a2b64d02c5fa4b9bab671a97561b6b33_4275833953094de2bdaa78ccf78e51a1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800884912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800884904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800884920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800884937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800884947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800884927893.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 bus to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a pedestrian riding a motorcycle to the front right of the ego vehicle, a golden business car to the back left of the ego vehicle, and a pedestrian preparing to cross the road to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,584.2,438.3>, <c2,CAM_BACK,924.2,530.8>, <c3,CAM_FRONT_RIGHT,441.7,512.5>, <c4,CAM_BACK_LEFT,842.9,621.7>, and <c5,CAM_FRONT,287.5,499.2>."
            }
        ]
    },
    {
        "id": "a2b64d02c5fa4b9bab671a97561b6b33_4275833953094de2bdaa78ccf78e51a1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800884912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800884904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800884920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800884937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800884947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800884927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,584.2,438.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "a2b64d02c5fa4b9bab671a97561b6b33_4275833953094de2bdaa78ccf78e51a1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800884912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800884904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800884920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800884937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800884947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800884927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,584.2,438.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a2b64d02c5fa4b9bab671a97561b6b33_4275833953094de2bdaa78ccf78e51a1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800884912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800884904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800884920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800884937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800884947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800884927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,584.2,438.3>? 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, high."
            }
        ]
    },
    {
        "id": "a2b64d02c5fa4b9bab671a97561b6b33_4275833953094de2bdaa78ccf78e51a1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800884912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800884904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800884920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800884937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800884947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800884927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT_RIGHT,441.7,512.5>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c3,CAM_FRONT_RIGHT,441.7,512.5>."
            }
        ]
    },
    {
        "id": "a2b64d02c5fa4b9bab671a97561b6b33_4275833953094de2bdaa78ccf78e51a1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800884912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800884904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800884920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800884937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800884947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800884927893.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 suddenly, brake gently to a stop."
            }
        ]
    },
    {
        "id": "a2b64d02c5fa4b9bab671a97561b6b33_4275833953094de2bdaa78ccf78e51a1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800884912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800884904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800884920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800884937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800884947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800884927893.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": "bc4fd5a05a004333b9411754630f4cba_e4a7fdc75f244b5d84c24c41d4b7ac4f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915277512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915277504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915277519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915277537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915277547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915277527813.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 silver sedan to the front of the ego vehicle, a red truck to the front of the ego vehicle, and a yield to pedestrians to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,623.3,526.7>, <c2,CAM_FRONT,1220.0,527.5>, <c3,CAM_FRONT,187.5,456.7>, and <c4,CAM_FRONT,1305.1,747.1>."
            }
        ]
    },
    {
        "id": "bc4fd5a05a004333b9411754630f4cba_e4a7fdc75f244b5d84c24c41d4b7ac4f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915277512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915277504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915277519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915277537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915277547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915277527813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,623.3,526.7>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "bc4fd5a05a004333b9411754630f4cba_e4a7fdc75f244b5d84c24c41d4b7ac4f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915277512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915277504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915277519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915277537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915277547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915277527813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,623.3,526.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bc4fd5a05a004333b9411754630f4cba_e4a7fdc75f244b5d84c24c41d4b7ac4f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915277512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915277504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915277519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915277537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915277547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915277527813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,623.3,526.7>? 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 is high."
            }
        ]
    },
    {
        "id": "bc4fd5a05a004333b9411754630f4cba_e4a7fdc75f244b5d84c24c41d4b7ac4f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915277512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915277504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915277519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915277537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915277547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915277527813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,623.3,526.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "bc4fd5a05a004333b9411754630f4cba_e4a7fdc75f244b5d84c24c41d4b7ac4f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915277512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915277504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915277519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915277537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915277547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915277527813.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, keep going at the same speed, decelerate gradually without braking, and brake gently to a stop."
            }
        ]
    },
    {
        "id": "bc4fd5a05a004333b9411754630f4cba_e4a7fdc75f244b5d84c24c41d4b7ac4f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915277512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915277504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915277519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915277537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915277547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915277527813.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": "4c5c675340d14cd88a65b5e22eb9c9c1_ecd361f4874c44ed971631aa8aed0fff_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297836262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297836254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297836270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297836287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297836297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297836278113.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 left of the ego vehicle, a white SUV to the front right of the ego vehicle, a black sedan to the back of the ego vehicle, a black SUV to the front right of the ego vehicle, a white sedan to the back of the ego vehicle, and a silver sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1588.3,585.8>, <c2,CAM_FRONT_RIGHT,1002.9,560.2>, <c3,CAM_BACK,857.5,515.8>, <c4,CAM_FRONT_RIGHT,97.5,687.5>, <c5,CAM_BACK,257.4,682.5>, and <c6,CAM_FRONT,1001.7,497.5>."
            }
        ]
    },
    {
        "id": "4c5c675340d14cd88a65b5e22eb9c9c1_ecd361f4874c44ed971631aa8aed0fff_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297836262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297836254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297836270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297836287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297836297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297836278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,857.5,515.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4c5c675340d14cd88a65b5e22eb9c9c1_ecd361f4874c44ed971631aa8aed0fff_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297836262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297836254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297836270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297836287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297836297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297836278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1588.3,585.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4c5c675340d14cd88a65b5e22eb9c9c1_ecd361f4874c44ed971631aa8aed0fff_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297836262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297836254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297836270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297836287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297836297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297836278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1588.3,585.8>? 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": "4c5c675340d14cd88a65b5e22eb9c9c1_ecd361f4874c44ed971631aa8aed0fff_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297836262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297836254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297836270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297836287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297836297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297836278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1588.3,585.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "4c5c675340d14cd88a65b5e22eb9c9c1_ecd361f4874c44ed971631aa8aed0fff_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297836262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297836254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297836270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297836287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297836297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297836278113.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 maintain a safe distance from other vehicles."
            }
        ]
    },
    {
        "id": "4c5c675340d14cd88a65b5e22eb9c9c1_ecd361f4874c44ed971631aa8aed0fff_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297836262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297836254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297836270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297836287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297836297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297836278113.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": "4c5c675340d14cd88a65b5e22eb9c9c1_f66de92b1e8a4ed280243c816bcced43_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297824762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297824754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297824770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297824787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297824797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297824778123.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 car to the back of the ego vehicle, a black car to the back of the ego vehicle, a black SUV to the front right of the ego vehicle, a yellow car to the front left of the ego vehicle, and a black SUV to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,852.5,489.2>, <c2,CAM_BACK,857.5,512.5>, <c3,CAM_BACK,422.5,585.0>, <c4,CAM_FRONT_RIGHT,461.7,710.0>, <c5,CAM_FRONT_LEFT,1061.7,620.8>, and <c6,CAM_BACK_RIGHT,1096.8,597.6>."
            }
        ]
    },
    {
        "id": "4c5c675340d14cd88a65b5e22eb9c9c1_f66de92b1e8a4ed280243c816bcced43_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297824762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297824754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297824770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297824787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297824797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297824778123.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,852.5,489.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4c5c675340d14cd88a65b5e22eb9c9c1_f66de92b1e8a4ed280243c816bcced43_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297824762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297824754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297824770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297824787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297824797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297824778123.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,852.5,489.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4c5c675340d14cd88a65b5e22eb9c9c1_f66de92b1e8a4ed280243c816bcced43_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297824762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297824754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297824770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297824787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297824797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297824778123.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,852.5,489.2>? 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 probability."
            }
        ]
    },
    {
        "id": "4c5c675340d14cd88a65b5e22eb9c9c1_f66de92b1e8a4ed280243c816bcced43_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297824762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297824754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297824770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297824787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297824797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297824778123.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,852.5,489.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight are actions taken by the ego vehicle that can lead to a collision with <c1,CAM_FRONT,852.5,489.2>."
            }
        ]
    },
    {
        "id": "4c5c675340d14cd88a65b5e22eb9c9c1_f66de92b1e8a4ed280243c816bcced43_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297824762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297824754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297824770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297824787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297824797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297824778123.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": "4c5c675340d14cd88a65b5e22eb9c9c1_f66de92b1e8a4ed280243c816bcced43_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297824762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297824754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297824770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297824787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297824797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297824778123.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": "3be5ff913abf449bac92ce2d2a4cffa0_902f44dae1e241a3993564390858949c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033960162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033960154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033960170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033960187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033960197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033960177893.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 white van to the front left of the ego vehicle, and a red and white speed limit 40 to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,823.3,507.5>, <c2,CAM_FRONT_LEFT,318.3,495.0>, and <c3,CAM_FRONT,549.8,347.6>."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_902f44dae1e241a3993564390858949c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033960162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033960154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033960170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033960187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033960197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033960177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,823.3,507.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_902f44dae1e241a3993564390858949c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033960162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033960154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033960170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033960187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033960197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033960177893.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 <c3,CAM_FRONT,549.8,347.6>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c2,CAM_FRONT_LEFT,318.3,495.0>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_BACK,823.3,507.5>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_902f44dae1e241a3993564390858949c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033960162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033960154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033960170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033960187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033960197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033960177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,823.3,507.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_902f44dae1e241a3993564390858949c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033960162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033960154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033960170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033960187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033960197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033960177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,823.3,507.5>? 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": "3be5ff913abf449bac92ce2d2a4cffa0_902f44dae1e241a3993564390858949c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033960162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033960154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033960170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033960187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033960197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033960177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,823.3,507.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_902f44dae1e241a3993564390858949c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033960162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033960154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033960170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033960187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033960197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033960177893.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."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_902f44dae1e241a3993564390858949c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033960162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033960154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033960170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033960187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033960197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033960177893.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": "3be5ff913abf449bac92ce2d2a4cffa0_20829a7f337045c1b0d3296fa8fb125f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033962162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033962154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033962170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033962187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033962197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033962177893.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 man wearing jeans to the front of the ego vehicle, and a white background with red and black left turn deceleration sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,845.8,510.0>, <c2,CAM_FRONT,1560.0,571.7>, and <c3,CAM_FRONT,656.5,377.3>."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_20829a7f337045c1b0d3296fa8fb125f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033962162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033962154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033962170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033962187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033962197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033962177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,845.8,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_20829a7f337045c1b0d3296fa8fb125f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033962162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033962154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033962170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033962187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033962197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033962177893.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 <c2,CAM_FRONT,1560.0,571.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice <c3,CAM_FRONT,656.5,377.3>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c1,CAM_BACK,845.8,510.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_20829a7f337045c1b0d3296fa8fb125f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033962162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033962154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033962170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033962187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033962197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033962177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,845.8,510.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_20829a7f337045c1b0d3296fa8fb125f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033962162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033962154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033962170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033962187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033962197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033962177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,845.8,510.0>? 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": "3be5ff913abf449bac92ce2d2a4cffa0_20829a7f337045c1b0d3296fa8fb125f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033962162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033962154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033962170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033962187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033962197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033962177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,845.8,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_20829a7f337045c1b0d3296fa8fb125f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033962162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033962154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033962170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033962187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033962197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033962177893.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_20829a7f337045c1b0d3296fa8fb125f_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033962162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033962154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033962170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033962187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033962197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033962177893.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": "3be5ff913abf449bac92ce2d2a4cffa0_33eae0a669bc44889783b9faa314e063_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033958662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033958654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033958670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033958687534.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033958697429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033958677893.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 business car to the back of the ego vehicle, a white van to the front left of the ego vehicle, and a red and white sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,898.3,507.5>, <c2,CAM_FRONT_LEFT,1566.7,505.8>, and <c3,CAM_FRONT,688.7,413.0>."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_33eae0a669bc44889783b9faa314e063_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033958662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033958654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033958670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033958687534.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033958697429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033958677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,898.3,507.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_33eae0a669bc44889783b9faa314e063_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033958662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033958654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033958670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033958687534.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033958697429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033958677893.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 <c2,CAM_FRONT_LEFT,1566.7,505.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,688.7,413.0>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,898.3,507.5>. The object is turning left, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_33eae0a669bc44889783b9faa314e063_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033958662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033958654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033958670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033958687534.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033958697429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033958677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,898.3,507.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_33eae0a669bc44889783b9faa314e063_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033958662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033958654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033958670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033958687534.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033958697429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033958677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,898.3,507.5>? 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": "3be5ff913abf449bac92ce2d2a4cffa0_33eae0a669bc44889783b9faa314e063_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033958662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033958654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033958670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033958687534.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033958697429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033958677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,898.3,507.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_33eae0a669bc44889783b9faa314e063_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033958662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033958654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033958670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033958687534.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033958697429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033958677893.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 right, decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_33eae0a669bc44889783b9faa314e063_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033958662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033958654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033958670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033958687534.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033958697429.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033958677893.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": "3be5ff913abf449bac92ce2d2a4cffa0_4875a523725648ecaa52cb32f06ad6fa_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033955762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033955754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033955770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033955787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033955797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033955777893.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 business to the front of the ego vehicle, a gray trash can to the front right of the ego vehicle, and a blue trash can to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,836.7,505.8>, <c2,CAM_FRONT_RIGHT,872.7,660.2>, and <c3,CAM_FRONT,1228.2,551.2>."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_4875a523725648ecaa52cb32f06ad6fa_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033955762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033955754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033955770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033955787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033955797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033955777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,836.7,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_4875a523725648ecaa52cb32f06ad6fa_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033955762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033955754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033955770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033955787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033955797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033955777893.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": "First, notice <c2,CAM_FRONT_RIGHT,872.7,660.2>, which is in the state of other obstacles, so the ego vehicle should continue forward at the current speed. Second, notice <c3,CAM_FRONT,1228.2,551.2>, which is in the state of other obstacles, so the ego vehicle should continue forward at the current speed. Finally, notice <c1,CAM_FRONT,836.7,505.8>, which is in the state of left turn, so the ego vehicle should continue forward at the current speed."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_4875a523725648ecaa52cb32f06ad6fa_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033955762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033955754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033955770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033955787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033955797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033955777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,836.7,505.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_4875a523725648ecaa52cb32f06ad6fa_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033955762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033955754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033955770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033955787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033955797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033955777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,836.7,505.8>? 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 is high probability."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_4875a523725648ecaa52cb32f06ad6fa_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033955762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033955754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033955770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033955787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033955797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033955777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,836.7,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_4875a523725648ecaa52cb32f06ad6fa_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033955762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033955754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033955770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033955787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033955797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033955777893.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": "3be5ff913abf449bac92ce2d2a4cffa0_4875a523725648ecaa52cb32f06ad6fa_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033955762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033955754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033955770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033955787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033955797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033955777893.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": "3be5ff913abf449bac92ce2d2a4cffa0_a12a3df0aa3d419a942c3703bf760186_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033954762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033954754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033954770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033954787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033954797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033954777893.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 blue trash bin to the front of the ego vehicle, a gray roadblock to the front of the ego vehicle, and a blue and green trash cans to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,875.0,510.8>, <c2,CAM_FRONT,1111.5,539.1>, <c3,CAM_FRONT,87.6,592.2>, and <c4,CAM_BACK_RIGHT,1442.1,667.2>."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_a12a3df0aa3d419a942c3703bf760186_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033954762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033954754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033954770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033954787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033954797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033954777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,875.0,510.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_a12a3df0aa3d419a942c3703bf760186_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033954762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033954754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033954770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033954787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033954797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033954777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,875.0,510.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_a12a3df0aa3d419a942c3703bf760186_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033954762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033954754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033954770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033954787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033954797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033954777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,875.0,510.8>? 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 that there is no safety issue. The probability is high."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_a12a3df0aa3d419a942c3703bf760186_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033954762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033954754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033954770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033954787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033954797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033954777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,875.0,510.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,875.0,510.8>."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_a12a3df0aa3d419a942c3703bf760186_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033954762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033954754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033954770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033954787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033954797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033954777893.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; keep going at the same speed."
            }
        ]
    },
    {
        "id": "3be5ff913abf449bac92ce2d2a4cffa0_a12a3df0aa3d419a942c3703bf760186_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033954762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033954754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033954770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033954787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033954797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033954777893.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": "2987b4494fcc4639bdd6d714a94b2c72_107e16415d004a3b8a56f39947475ec7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202757112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202757104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202757120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202757137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202757147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202757127893.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 back right of the ego vehicle, a pedestrian in blue clothes to the back left of the ego vehicle, a yellow bicycle to the front of the ego vehicle, and a red car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,595.8,510.0>, <c2,CAM_BACK_LEFT,501.7,484.2>, <c3,CAM_FRONT,463.3,499.2>, and <c4,CAM_BACK,469.2,558.3>."
            }
        ]
    },
    {
        "id": "2987b4494fcc4639bdd6d714a94b2c72_107e16415d004a3b8a56f39947475ec7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202757112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202757104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202757120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202757137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202757147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202757127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK_LEFT,501.7,484.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2987b4494fcc4639bdd6d714a94b2c72_107e16415d004a3b8a56f39947475ec7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202757112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202757104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202757120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202757137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202757147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202757127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,595.8,510.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2987b4494fcc4639bdd6d714a94b2c72_107e16415d004a3b8a56f39947475ec7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202757112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202757104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202757120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202757137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202757147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202757127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,595.8,510.0>? 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, high probability."
            }
        ]
    },
    {
        "id": "2987b4494fcc4639bdd6d714a94b2c72_107e16415d004a3b8a56f39947475ec7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202757112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202757104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202757120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202757137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202757147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202757127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,595.8,510.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "2987b4494fcc4639bdd6d714a94b2c72_107e16415d004a3b8a56f39947475ec7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202757112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202757104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202757120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202757137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202757147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202757127893.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": "2987b4494fcc4639bdd6d714a94b2c72_107e16415d004a3b8a56f39947475ec7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202757112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202757104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202757120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202757137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202757147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202757127893.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": "2987b4494fcc4639bdd6d714a94b2c72_7324de00b6fb4abd8880f45de408b853_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202768162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202768154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202768170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202768187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202768197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202768177893.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 pants pedestrian to the back of the ego vehicle, a pedestrian wearing black pants to the front left of the ego vehicle, and a blue and white sign to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1211.7,547.5>, <c2,CAM_FRONT_LEFT,987.5,512.5>, and <c3,CAM_BACK,562.8,590.9>."
            }
        ]
    },
    {
        "id": "2987b4494fcc4639bdd6d714a94b2c72_7324de00b6fb4abd8880f45de408b853_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202768162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202768154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202768170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202768187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202768197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202768177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1211.7,547.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2987b4494fcc4639bdd6d714a94b2c72_7324de00b6fb4abd8880f45de408b853_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202768162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202768154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202768170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202768187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202768197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202768177893.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 <c3,CAM_BACK,562.8,590.9>. The state of the object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_BACK,1211.7,547.5>. The state of the object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT_LEFT,987.5,512.5>. The state of the object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "2987b4494fcc4639bdd6d714a94b2c72_7324de00b6fb4abd8880f45de408b853_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202768162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202768154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202768170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202768187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202768197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202768177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1211.7,547.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2987b4494fcc4639bdd6d714a94b2c72_7324de00b6fb4abd8880f45de408b853_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202768162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202768154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202768170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202768187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202768197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202768177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1211.7,547.5>? 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": "2987b4494fcc4639bdd6d714a94b2c72_7324de00b6fb4abd8880f45de408b853_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202768162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202768154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202768170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202768187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202768197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202768177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1211.7,547.5>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,1211.7,547.5>."
            }
        ]
    },
    {
        "id": "2987b4494fcc4639bdd6d714a94b2c72_7324de00b6fb4abd8880f45de408b853_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202768162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202768154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202768170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202768187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202768197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202768177893.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": "2987b4494fcc4639bdd6d714a94b2c72_7324de00b6fb4abd8880f45de408b853_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202768162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202768154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202768170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202768187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202768197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202768177893.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": "f57957ebc5654b649a0786d993b64be4_92703e98474d49fbbfb51adb2d5b8c8e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112993412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112993404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112993420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112993437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112993447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112993427893.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 front right of the ego vehicle, and a white sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1034.2,515.8>, <c2,CAM_FRONT_RIGHT,145.8,588.3>, and <c3,CAM_FRONT_LEFT,1450.0,598.3>."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_92703e98474d49fbbfb51adb2d5b8c8e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112993412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112993404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112993420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112993437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112993447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112993427893.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 <c2,CAM_FRONT_RIGHT,145.8,588.3>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_LEFT,1450.0,598.3>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT,1034.2,515.8>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_92703e98474d49fbbfb51adb2d5b8c8e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112993412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112993404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112993420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112993437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112993447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112993427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1034.2,515.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_92703e98474d49fbbfb51adb2d5b8c8e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112993412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112993404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112993420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112993437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112993447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112993427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1034.2,515.8>? 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, and the probability is high."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_92703e98474d49fbbfb51adb2d5b8c8e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112993412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112993404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112993420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112993437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112993447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112993427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1034.2,515.8>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_92703e98474d49fbbfb51adb2d5b8c8e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112993412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112993404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112993420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112993437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112993447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112993427893.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; brake gently to a stop."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_92703e98474d49fbbfb51adb2d5b8c8e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112993412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112993404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112993420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112993437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112993447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112993427893.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": "f57957ebc5654b649a0786d993b64be4_513813c50068490986ed099c03c3a235_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112988512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112988504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112988520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112988537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112988547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112988527896.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 bus to the front of the ego vehicle, a blue sedan to the front of the ego vehicle, a white sedan to the front left of the ego vehicle, and a black SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,530.0,440.0>, <c2,CAM_FRONT,1105.0,526.7>, <c3,CAM_FRONT_LEFT,1464.2,574.2>, and <c4,CAM_FRONT_LEFT,261.7,631.5>."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_513813c50068490986ed099c03c3a235_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112988512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112988504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112988520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112988537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112988547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112988527896.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1105.0,526.7>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_513813c50068490986ed099c03c3a235_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112988512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112988504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112988520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112988537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112988547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112988527896.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,530.0,440.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_513813c50068490986ed099c03c3a235_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112988512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112988504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112988520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112988537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112988547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112988527896.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,530.0,440.0>? 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": "f57957ebc5654b649a0786d993b64be4_513813c50068490986ed099c03c3a235_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112988512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112988504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112988520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112988537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112988547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112988527896.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,530.0,440.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_513813c50068490986ed099c03c3a235_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112988512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112988504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112988520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112988537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112988547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112988527896.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 suddenly, brake gently to a stop, and back up are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_513813c50068490986ed099c03c3a235_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112988512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112988504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112988520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112988537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112988547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112988527896.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": "f57957ebc5654b649a0786d993b64be4_65e4bdc3fbf34bb6862076a7a2b02c2b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112996412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112996404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112996420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112996437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112996447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112996427893.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 right of the ego vehicle, a black SUV to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, and a blue motorcycle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,333.0,696.2>, <c2,CAM_FRONT_LEFT,727.4,691.0>, <c3,CAM_FRONT,1197.5,546.7>, and <c4,CAM_FRONT,234.2,713.3>."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_65e4bdc3fbf34bb6862076a7a2b02c2b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112996412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112996404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112996420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112996437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112996447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112996427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,333.0,696.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_65e4bdc3fbf34bb6862076a7a2b02c2b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112996412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112996404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112996420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112996437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112996447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112996427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,333.0,696.2>? 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": "f57957ebc5654b649a0786d993b64be4_65e4bdc3fbf34bb6862076a7a2b02c2b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112996412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112996404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112996420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112996437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112996447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112996427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,333.0,696.2>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_65e4bdc3fbf34bb6862076a7a2b02c2b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112996412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112996404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112996420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112996437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112996447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112996427893.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": "f57957ebc5654b649a0786d993b64be4_65e4bdc3fbf34bb6862076a7a2b02c2b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112996412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112996404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112996420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112996437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112996447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112996427893.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 with normal speed."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_37401e81b7c64dc6a886113ce1fb2469_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112998862650.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112998854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112998870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112998887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112998897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112998877893.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 woman wearing a white short-sleeved shirt to the front of the ego vehicle, a gray 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 <c1,CAM_FRONT,289.2,518.3>, <c2,CAM_FRONT_LEFT,1221.7,663.3>, and <c3,CAM_FRONT,1254.2,572.5>."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_37401e81b7c64dc6a886113ce1fb2469_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112998862650.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112998854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112998870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112998887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112998897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112998877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,289.2,518.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_37401e81b7c64dc6a886113ce1fb2469_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112998862650.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112998854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112998870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112998887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112998897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112998877893.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 <c2,CAM_FRONT_LEFT,1221.7,663.3>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,1254.2,572.5>. The object is going ahead, so the ego vehicle should slow down and continue ahead. Thirdly, notice that <c1,CAM_FRONT,289.2,518.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_37401e81b7c64dc6a886113ce1fb2469_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112998862650.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112998854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112998870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112998887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112998897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112998877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,289.2,518.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_37401e81b7c64dc6a886113ce1fb2469_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112998862650.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112998854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112998870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112998887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112998897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112998877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,289.2,518.3>? 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": "f57957ebc5654b649a0786d993b64be4_37401e81b7c64dc6a886113ce1fb2469_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112998862650.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112998854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112998870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112998887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112998897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112998877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,1221.7,663.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "f57957ebc5654b649a0786d993b64be4_37401e81b7c64dc6a886113ce1fb2469_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112998862650.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112998854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112998870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112998887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112998897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112998877893.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": "f57957ebc5654b649a0786d993b64be4_37401e81b7c64dc6a886113ce1fb2469_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112998862650.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112998854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112998870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112998887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112998897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112998877893.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": "2ce2df158372461fa91ce77455656f81_d5b4fd59fb934cceaa7582004adc50bc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107710412462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107710404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107710420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107710437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107710447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107710428037.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 white SUV to the back of the ego vehicle, and a blue van to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,813.3,534.2>, <c2,CAM_BACK,837.5,540.8>, and <c3,CAM_FRONT,670.8,501.7>."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_d5b4fd59fb934cceaa7582004adc50bc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107710412462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107710404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107710420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107710437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107710447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107710428037.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,813.3,534.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_d5b4fd59fb934cceaa7582004adc50bc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107710412462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107710404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107710420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107710437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107710447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107710428037.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 <c1,CAM_FRONT,813.3,534.2>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,670.8,501.7>; the object is turning left, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,837.5,540.8>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_d5b4fd59fb934cceaa7582004adc50bc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107710412462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107710404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107710420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107710437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107710447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107710428037.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,813.3,534.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_d5b4fd59fb934cceaa7582004adc50bc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107710412462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107710404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107710420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107710437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107710447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107710428037.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,813.3,534.2>? 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": "2ce2df158372461fa91ce77455656f81_d5b4fd59fb934cceaa7582004adc50bc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107710412462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107710404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107710420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107710437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107710447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107710428037.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,813.3,534.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_d5b4fd59fb934cceaa7582004adc50bc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107710412462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107710404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107710420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107710437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107710447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107710428037.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": "2ce2df158372461fa91ce77455656f81_d5b4fd59fb934cceaa7582004adc50bc_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107710412462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107710404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107710420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107710437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107710447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107710428037.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": "2ce2df158372461fa91ce77455656f81_d831d1c65ce641b185b5ec6ae640e3af_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107713912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107713904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107713920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107713937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107713947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107713927893.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 white sedan to the back of the ego vehicle, and a left turn to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,711.7,521.7>, <c2,CAM_BACK,871.7,560.0>, and <c3,CAM_FRONT,816.9,791.1>."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_d831d1c65ce641b185b5ec6ae640e3af_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107713912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107713904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107713920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107713937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107713947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107713927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,711.7,521.7>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_d831d1c65ce641b185b5ec6ae640e3af_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107713912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107713904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107713920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107713937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107713947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107713927893.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 <c3,CAM_FRONT,816.9,791.1>. It is a traffic sign, so the ego vehicle should turn left. Secondly, notice <c1,CAM_FRONT,711.7,521.7>. It is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c2,CAM_BACK,871.7,560.0>. It is also going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_d831d1c65ce641b185b5ec6ae640e3af_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107713912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107713904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107713920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107713937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107713947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107713927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,711.7,521.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_d831d1c65ce641b185b5ec6ae640e3af_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107713912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107713904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107713920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107713937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107713947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107713927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,711.7,521.7>? 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": "2ce2df158372461fa91ce77455656f81_d831d1c65ce641b185b5ec6ae640e3af_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107713912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107713904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107713920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107713937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107713947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107713927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,711.7,521.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_d831d1c65ce641b185b5ec6ae640e3af_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107713912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107713904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107713920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107713937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107713947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107713927893.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": "2ce2df158372461fa91ce77455656f81_d831d1c65ce641b185b5ec6ae640e3af_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107713912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107713904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107713920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107713937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107713947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107713927893.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": "2ce2df158372461fa91ce77455656f81_f215fba2e345475f912c2c617fa9b0bd_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107725862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107725854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107725870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107725887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107725897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107725877893.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 SUV to the front right of the ego vehicle, a white sedan car to the back of the ego vehicle, and a red and white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1003.3,562.5>, <c2,CAM_BACK,953.3,652.5>, and <c3,CAM_FRONT,790.0,515.0>."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_f215fba2e345475f912c2c617fa9b0bd_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107725862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107725854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107725870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107725887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107725897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107725877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,1003.3,562.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_f215fba2e345475f912c2c617fa9b0bd_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107725862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107725854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107725870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107725887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107725897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107725877893.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 <c3,CAM_FRONT,790.0,515.0>. The object is going ahead, so the ego vehicle should slow down and go ahead. Secondly, notice <c1,CAM_FRONT_RIGHT,1003.3,562.5>. The object is going ahead, so the ego vehicle should slow down and go ahead. Thirdly, notice <c2,CAM_BACK,953.3,652.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_f215fba2e345475f912c2c617fa9b0bd_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107725862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107725854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107725870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107725887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107725897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107725877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1003.3,562.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_f215fba2e345475f912c2c617fa9b0bd_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107725862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107725854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107725870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107725887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107725897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107725877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1003.3,562.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary. The reason is to follow the traffic rules, which has a high probability."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_f215fba2e345475f912c2c617fa9b0bd_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107725862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107725854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107725870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107725887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107725897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107725877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1003.3,562.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_f215fba2e345475f912c2c617fa9b0bd_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107725862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107725854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107725870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107725887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107725897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107725877893.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 gently to a stop."
            }
        ]
    },
    {
        "id": "2ce2df158372461fa91ce77455656f81_f215fba2e345475f912c2c617fa9b0bd_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107725862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107725854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107725870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107725887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107725897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107725877893.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": "e3094e1174654d119b55cce4df145e02_551f81ab0bf64d4eadd8e35182b4f4b9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299278912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299278904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299278920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299278937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299278947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299278928113.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 truck to the back of the ego vehicle, and a white striped to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1067.5,429.2>, <c2,CAM_BACK,622.5,459.2>, and <c3,CAM_FRONT,632.9,716.9>."
            }
        ]
    },
    {
        "id": "e3094e1174654d119b55cce4df145e02_551f81ab0bf64d4eadd8e35182b4f4b9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299278912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299278904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299278920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299278937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299278947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299278928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1067.5,429.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e3094e1174654d119b55cce4df145e02_551f81ab0bf64d4eadd8e35182b4f4b9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299278912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299278904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299278920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299278937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299278947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299278928113.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 <c3,CAM_FRONT,632.9,716.9>. The object is a traffic sign, so the ego vehicle should decelerate gradually until it comes to a stop. Secondly, notice that <c1,CAM_FRONT,1067.5,429.2>. The object is going ahead, so the ego vehicle should slow down and continue going ahead. Thirdly, notice that <c2,CAM_BACK,622.5,459.2>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "e3094e1174654d119b55cce4df145e02_551f81ab0bf64d4eadd8e35182b4f4b9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299278912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299278904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299278920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299278937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299278947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299278928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1067.5,429.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e3094e1174654d119b55cce4df145e02_551f81ab0bf64d4eadd8e35182b4f4b9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299278912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299278904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299278920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299278937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299278947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299278928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1067.5,429.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to brake gently to a stop. The reason is there is no safety issue, high probability."
            }
        ]
    },
    {
        "id": "e3094e1174654d119b55cce4df145e02_551f81ab0bf64d4eadd8e35182b4f4b9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299278912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299278904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299278920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299278937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299278947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299278928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1067.5,429.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight can lead to a collision with <c1,CAM_FRONT,1067.5,429.2>."
            }
        ]
    },
    {
        "id": "e3094e1174654d119b55cce4df145e02_551f81ab0bf64d4eadd8e35182b4f4b9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299278912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299278904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299278920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299278937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299278947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299278928113.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> brake gently to a stop."
            }
        ]
    },
    {
        "id": "e3094e1174654d119b55cce4df145e02_551f81ab0bf64d4eadd8e35182b4f4b9_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299278912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299278904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299278920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299278937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299278947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299278928113.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": "e3094e1174654d119b55cce4df145e02_c8170f1633034cf69872175e2327b300_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299275912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299275904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299275920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299275937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299275947516.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299275928113.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 truck to the back of the ego vehicle, and a white truck to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1049.2,423.3>, <c2,CAM_BACK,607.5,461.7>, and <c3,CAM_BACK_RIGHT,1233.3,352.5>."
            }
        ]
    },
    {
        "id": "e3094e1174654d119b55cce4df145e02_c8170f1633034cf69872175e2327b300_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299275912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299275904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299275920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299275937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299275947516.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299275928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1049.2,423.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e3094e1174654d119b55cce4df145e02_c8170f1633034cf69872175e2327b300_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299275912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299275904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299275920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299275937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299275947516.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299275928113.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 <c1,CAM_FRONT,1049.2,423.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_BACK_RIGHT,1233.3,352.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,607.5,461.7>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "e3094e1174654d119b55cce4df145e02_c8170f1633034cf69872175e2327b300_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299275912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299275904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299275920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299275937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299275947516.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299275928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1049.2,423.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e3094e1174654d119b55cce4df145e02_c8170f1633034cf69872175e2327b300_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299275912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299275904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299275920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299275937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299275947516.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299275928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1049.2,423.3>? 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": "e3094e1174654d119b55cce4df145e02_c8170f1633034cf69872175e2327b300_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299275912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299275904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299275920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299275937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299275947516.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299275928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1049.2,423.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,1049.2,423.3>."
            }
        ]
    },
    {
        "id": "e3094e1174654d119b55cce4df145e02_c8170f1633034cf69872175e2327b300_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299275912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299275904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299275920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299275937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299275947516.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299275928113.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, and slightly offset to the right."
            }
        ]
    },
    {
        "id": "e3094e1174654d119b55cce4df145e02_c8170f1633034cf69872175e2327b300_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299275912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299275904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299275920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299275937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299275947516.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299275928113.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": "9f5f2211d6f943a89dd87bbe9703539d_c3d0287771d1446198db16dbc86aeaf5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033644262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033644254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033644270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033644287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033644297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033644277893.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 brown sedan to the front of the ego vehicle, a silver sedan to the front right of the ego vehicle, a red car to the back of the ego vehicle, and a traffic sign to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1248.3,573.3>, <c2,CAM_FRONT_RIGHT,604.2,628.3>, <c3,CAM_BACK,719.2,683.3>, and <c4,CAM_BACK_RIGHT,1037.6,819.3>."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_c3d0287771d1446198db16dbc86aeaf5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033644262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033644254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033644270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033644287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033644297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033644277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1248.3,573.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_c3d0287771d1446198db16dbc86aeaf5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033644262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033644254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033644270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033644287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033644297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033644277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1248.3,573.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_c3d0287771d1446198db16dbc86aeaf5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033644262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033644254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033644270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033644287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033644297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033644277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1248.3,573.3>? 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 avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_c3d0287771d1446198db16dbc86aeaf5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033644262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033644254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033644270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033644287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033644297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033644277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1248.3,573.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_c3d0287771d1446198db16dbc86aeaf5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033644262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033644254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033644270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033644287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033644297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033644277893.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 suddenly, slightly offset to the left."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_c3d0287771d1446198db16dbc86aeaf5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033644262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033644254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033644270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033644287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033644297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033644277893.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": "9f5f2211d6f943a89dd87bbe9703539d_5745b90ad1514a0c8396fef52c7c0ca4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033646762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033646754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033646770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033646787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033646797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033646777893.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 black car to the back right of the ego vehicle, a blue sedan car to the front of the ego vehicle, a red car to the front right of the ego vehicle, and a red sedan car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1015.0,698.3>, <c2,CAM_FRONT,1272.5,587.5>, <c3,CAM_FRONT_RIGHT,459.2,619.2>, and <c4,CAM_BACK,767.5,683.3>."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_5745b90ad1514a0c8396fef52c7c0ca4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033646762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033646754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033646770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033646787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033646797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033646777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,1015.0,698.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_5745b90ad1514a0c8396fef52c7c0ca4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033646762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033646754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033646770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033646787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033646797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033646777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1015.0,698.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_5745b90ad1514a0c8396fef52c7c0ca4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033646762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033646754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033646770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033646787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033646797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033646777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1015.0,698.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary, the reason being that there is no safety issue. The probability of taking this action is high."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_5745b90ad1514a0c8396fef52c7c0ca4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033646762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033646754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033646770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033646787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033646797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033646777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c4,CAM_BACK,767.5,683.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_5745b90ad1514a0c8396fef52c7c0ca4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033646762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033646754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033646770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033646787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033646797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033646777893.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; brake suddenly."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_5745b90ad1514a0c8396fef52c7c0ca4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033646762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033646754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033646770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033646787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033646797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033646777893.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": "9f5f2211d6f943a89dd87bbe9703539d_3e1d882de63d435fbc5a837182e93316_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.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 car to the front right of the ego vehicle, a black SUV to the front right of the ego vehicle, a blue sedan to the front of the ego vehicle, a red car to the back of the ego vehicle, and a go straight to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,33.4,552.5>, <c2,CAM_FRONT_RIGHT,950.0,590.8>, <c3,CAM_FRONT,1366.7,613.3>, <c4,CAM_BACK,720.0,683.3>, and <c5,CAM_BACK_RIGHT,1070.3,855.3>."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_3e1d882de63d435fbc5a837182e93316_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,33.4,552.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_3e1d882de63d435fbc5a837182e93316_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,33.4,552.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_3e1d882de63d435fbc5a837182e93316_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,33.4,552.5>? 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, and the probability of this action is high."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_3e1d882de63d435fbc5a837182e93316_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,33.4,552.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_3e1d882de63d435fbc5a837182e93316_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.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 right."
            }
        ]
    },
    {
        "id": "9f5f2211d6f943a89dd87bbe9703539d_3e1d882de63d435fbc5a837182e93316_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.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": "14b96c255dee4a838a8d401302ac2852_c2a73c9fe7d24513833d40a044620538_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583201162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583201154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583201170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583201187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583201197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583201178113.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 bus to the front right of the ego vehicle, an orange and white safety barrel to the front right of the ego vehicle, a white SUV to the back left of the ego vehicle, and a white SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1290.3,522.6>, <c2,CAM_FRONT_RIGHT,307.5,669.2>, <c3,CAM_BACK_LEFT,503.3,578.3>, and <c4,CAM_FRONT_LEFT,1530.0,560.0>."
            }
        ]
    },
    {
        "id": "14b96c255dee4a838a8d401302ac2852_c2a73c9fe7d24513833d40a044620538_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583201162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583201154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583201170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583201187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583201197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583201178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,1290.3,522.6>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "14b96c255dee4a838a8d401302ac2852_c2a73c9fe7d24513833d40a044620538_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583201162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583201154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583201170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583201187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583201197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583201178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1290.3,522.6> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "14b96c255dee4a838a8d401302ac2852_c2a73c9fe7d24513833d40a044620538_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583201162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583201154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583201170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583201187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583201197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583201178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1290.3,522.6>? 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": "14b96c255dee4a838a8d401302ac2852_c2a73c9fe7d24513833d40a044620538_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583201162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583201154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583201170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583201187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583201197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583201178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1290.3,522.6>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "14b96c255dee4a838a8d401302ac2852_c2a73c9fe7d24513833d40a044620538_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583201162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583201154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583201170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583201187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583201197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583201178113.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."
            }
        ]
    },
    {
        "id": "14b96c255dee4a838a8d401302ac2852_c2a73c9fe7d24513833d40a044620538_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583201162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583201154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583201170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583201187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583201197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583201178113.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": "03ee880dd4e348f4b3407f0d073c7c70_74c03d0f0f744bed935325b7d117a52b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885978512463.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885978504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885978520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885978537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885978547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885978527893.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 man wearing blue pants to the front of the ego vehicle, a white sedan car to the front of the ego vehicle, and a blue truck to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1472.5,526.7>, <c2,CAM_FRONT,774.2,563.3>, and <c3,CAM_FRONT_RIGHT,707.2,465.4>."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_74c03d0f0f744bed935325b7d117a52b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885978512463.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885978504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885978520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885978537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885978547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885978527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1472.5,526.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_74c03d0f0f744bed935325b7d117a52b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885978512463.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885978504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885978520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885978537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885978547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885978527893.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 <c2,CAM_FRONT,774.2,563.3>. The object is going ahead, so the ego vehicle should decelerate gradually until it comes to a stop. Secondly, notice <c1,CAM_FRONT,1472.5,526.7>. The object is going ahead, so the ego vehicle should keep stationary. Thirdly, notice <c3,CAM_FRONT_RIGHT,707.2,465.4>. The object is stationary, so the ego vehicle should keep stationary."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_74c03d0f0f744bed935325b7d117a52b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885978512463.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885978504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885978520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885978537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885978547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885978527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1472.5,526.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_74c03d0f0f744bed935325b7d117a52b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885978512463.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885978504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885978520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885978537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885978547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885978527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1472.5,526.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that the object has little reference value for the ego vehicle, and the probability is high."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_74c03d0f0f744bed935325b7d117a52b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885978512463.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885978504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885978520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885978537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885978547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885978527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,774.2,563.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_74c03d0f0f744bed935325b7d117a52b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885978512463.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885978504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885978520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885978537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885978547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885978527893.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, turn right."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_74c03d0f0f744bed935325b7d117a52b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885978512463.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885978504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885978520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885978537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885978547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885978527893.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": "03ee880dd4e348f4b3407f0d073c7c70_31d071a119c6449dae7c9039ce8ef79d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885986912466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885986904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885986920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885986937529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885986947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885986927893.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 man wearing a white shirt to the front of the ego vehicle, a blue truck to the front right of the ego vehicle, and a gray sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1003.3,530.0>, <c2,CAM_FRONT_RIGHT,1021.9,470.9>, and <c3,CAM_BACK,845.8,556.7>."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_31d071a119c6449dae7c9039ce8ef79d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885986912466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885986904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885986920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885986937529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885986947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885986927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1003.3,530.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_31d071a119c6449dae7c9039ce8ef79d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885986912466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885986904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885986920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885986937529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885986947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885986927893.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 <c1,CAM_FRONT,1003.3,530.0>. It is going ahead, so the ego vehicle should continue at the same speed. Secondly, notice <c3,CAM_BACK,845.8,556.7>. It is also going ahead, so the ego vehicle should maintain its speed. Thirdly, notice <c2,CAM_FRONT_RIGHT,1021.9,470.9>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_31d071a119c6449dae7c9039ce8ef79d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885986912466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885986904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885986920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885986937529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885986947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885986927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1003.3,530.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_31d071a119c6449dae7c9039ce8ef79d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885986912466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885986904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885986920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885986937529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885986947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885986927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1003.3,530.0>? 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 is high probability."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_31d071a119c6449dae7c9039ce8ef79d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885986912466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885986904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885986920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885986937529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885986947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885986927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1003.3,530.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_31d071a119c6449dae7c9039ce8ef79d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885986912466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885986904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885986920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885986937529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885986947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885986927893.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, slightly offset to the right, turn right, turn left, and brake gently to a stop."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_31d071a119c6449dae7c9039ce8ef79d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885986912466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885986904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885986920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885986937529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885986947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885986927893.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": "03ee880dd4e348f4b3407f0d073c7c70_55107d4d21664eb8aba3c983d7aa8745_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885996012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885996004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885996020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885996037530.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885996047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885996027893.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 gray shirt and black pants to the front of the ego vehicle, a white truck to the front left of the ego vehicle, a blue truck to the front right of the ego vehicle, and a gray sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,496.7,504.2>, <c2,CAM_FRONT_LEFT,1139.6,435.0>, <c3,CAM_FRONT_RIGHT,1099.5,486.7>, and <c4,CAM_BACK,469.2,597.5>."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_55107d4d21664eb8aba3c983d7aa8745_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885996012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885996004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885996020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885996037530.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885996047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885996027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,496.7,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_55107d4d21664eb8aba3c983d7aa8745_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885996012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885996004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885996020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885996037530.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885996047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885996027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,496.7,504.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_55107d4d21664eb8aba3c983d7aa8745_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885996012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885996004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885996020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885996037530.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885996047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885996027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,496.7,504.2>? 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 for taking this action is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_55107d4d21664eb8aba3c983d7aa8745_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885996012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885996004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885996020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885996037530.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885996047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885996027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,496.7,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_55107d4d21664eb8aba3c983d7aa8745_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885996012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885996004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885996020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885996037530.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885996047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885996027893.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 right."
            }
        ]
    },
    {
        "id": "03ee880dd4e348f4b3407f0d073c7c70_55107d4d21664eb8aba3c983d7aa8745_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885996012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885996004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885996020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885996037530.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885996047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885996027893.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 slowly."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_45c5a496810f437681fe78bf9f2b41f2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487534662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487534654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487534670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487534687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487534697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487534678113.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 truck to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a blue sedan to the back right of the ego vehicle, a silver SUV to the back of the ego vehicle, and a gray bus to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,854.2,466.7>, <c2,CAM_FRONT,752.5,495.0>, <c3,CAM_BACK_RIGHT,1330.8,543.3>, <c4,CAM_BACK,806.7,500.8>, and <c5,CAM_FRONT_LEFT,1332.3,425.1>."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_45c5a496810f437681fe78bf9f2b41f2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487534662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487534654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487534670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487534687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487534697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487534678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,752.5,495.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_45c5a496810f437681fe78bf9f2b41f2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487534662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487534654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487534670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487534687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487534697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487534678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,854.2,466.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_45c5a496810f437681fe78bf9f2b41f2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487534662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487534654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487534670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487534687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487534697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487534678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,854.2,466.7>? 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": "d39c6835da754adfa0f75183e685c403_45c5a496810f437681fe78bf9f2b41f2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487534662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487534654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487534670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487534687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487534697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487534678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,854.2,466.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_45c5a496810f437681fe78bf9f2b41f2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487534662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487534654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487534670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487534687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487534697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487534678113.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": "d39c6835da754adfa0f75183e685c403_45c5a496810f437681fe78bf9f2b41f2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487534662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487534654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487534670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487534687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487534697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487534678113.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": "d39c6835da754adfa0f75183e685c403_f73f40951436435e8e51124f91125a99_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487542262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487542254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487542270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487542287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487542297412.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487542278113.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 right of the ego vehicle, a yellow and white bus to the back left of the ego vehicle, and a silver microcar to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,748.1,473.7>, <c2,CAM_BACK_LEFT,863.8,461.7>, and <c3,CAM_BACK,855.8,515.8>."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_f73f40951436435e8e51124f91125a99_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487542262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487542254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487542270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487542287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487542297412.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487542278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK_LEFT,863.8,461.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_f73f40951436435e8e51124f91125a99_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487542262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487542254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487542270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487542287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487542297412.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487542278113.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 <c1,CAM_FRONT_RIGHT,748.1,473.7>. The object is stationary, so the ego vehicle should slow down and proceed. Secondly, notice that <c2,CAM_BACK_LEFT,863.8,461.7>. The object is going ahead, so the ego vehicle should slow down and proceed. Thirdly, notice that <c3,CAM_BACK,855.8,515.8>. The object is going ahead, so the ego vehicle should slow down and proceed."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_f73f40951436435e8e51124f91125a99_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487542262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487542254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487542270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487542287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487542297412.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487542278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,748.1,473.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_f73f40951436435e8e51124f91125a99_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487542262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487542254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487542270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487542287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487542297412.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487542278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,748.1,473.7>? 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 is high."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_f73f40951436435e8e51124f91125a99_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487542262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487542254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487542270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487542287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487542297412.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487542278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,748.1,473.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_f73f40951436435e8e51124f91125a99_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487542262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487542254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487542270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487542287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487542297412.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487542278113.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, keep going at the same speed, slightly offset to the left."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_f73f40951436435e8e51124f91125a99_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487542262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487542254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487542270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487542287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487542297412.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487542278113.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": "d39c6835da754adfa0f75183e685c403_637f878053464642ad3c0b3ed371474e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487539762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487539754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487539770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487539787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487539797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487539778113.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 and yellow bus to the front left of the ego vehicle, and a gray business car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1283.3,368.3>, <c2,CAM_FRONT_LEFT,1038.3,402.5>, and <c3,CAM_BACK,904.2,516.7>."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_637f878053464642ad3c0b3ed371474e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487539762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487539754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487539770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487539787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487539797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487539778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,904.2,516.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_637f878053464642ad3c0b3ed371474e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487539762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487539754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487539770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487539787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487539797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487539778113.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 <c2,CAM_FRONT_LEFT,1038.3,402.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,1283.3,368.3>. The object is stationary, so the ego vehicle should slightly offset to the left. Thirdly, notice that <c3,CAM_BACK,904.2,516.7>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_637f878053464642ad3c0b3ed371474e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487539762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487539754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487539770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487539787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487539797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487539778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1283.3,368.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_637f878053464642ad3c0b3ed371474e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487539762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487539754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487539770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487539787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487539797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487539778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1283.3,368.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to slightly offset to the left in maneuvering. The reason is to avoid a collision, high."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_637f878053464642ad3c0b3ed371474e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487539762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487539754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487539770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487539787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487539797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487539778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1283.3,368.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_637f878053464642ad3c0b3ed371474e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487539762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487539754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487539770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487539787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487539797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487539778113.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 left."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_637f878053464642ad3c0b3ed371474e_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487539762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487539754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487539770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487539787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487539797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487539778113.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": "d39c6835da754adfa0f75183e685c403_3dfd0c83966a4ecf80b7703872f479f0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487532262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487532254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487532270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487532287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487532297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487532278113.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 sedan to the front of the ego vehicle, a blue sedan to the front right of the ego vehicle, a silver SUV to the back of the ego vehicle, and a white bus to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,913.3,455.0>, <c2,CAM_FRONT,822.5,480.8>, <c3,CAM_FRONT_RIGHT,1373.3,508.3>, <c4,CAM_BACK,863.3,510.0>, and <c5,CAM_FRONT,568.3,452.5>."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_3dfd0c83966a4ecf80b7703872f479f0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487532262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487532254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487532270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487532287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487532297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487532278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,822.5,480.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_3dfd0c83966a4ecf80b7703872f479f0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487532262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487532254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487532270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487532287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487532297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487532278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,913.3,455.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_3dfd0c83966a4ecf80b7703872f479f0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487532262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487532254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487532270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487532287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487532297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487532278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,913.3,455.0>? 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": "d39c6835da754adfa0f75183e685c403_3dfd0c83966a4ecf80b7703872f479f0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487532262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487532254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487532270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487532287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487532297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487532278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,913.3,455.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_3dfd0c83966a4ecf80b7703872f479f0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487532262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487532254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487532270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487532287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487532297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487532278113.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 right, brake gently to a stop."
            }
        ]
    },
    {
        "id": "d39c6835da754adfa0f75183e685c403_3dfd0c83966a4ecf80b7703872f479f0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487532262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487532254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487532270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487532287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487532297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487532278113.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": "78c5f7d7b547483c906d8524a8c3190f_76ed31da2e6b4a60986764cb6dd79c0f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153699662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153699654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153699670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153699687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153699697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153699678113.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 of the ego vehicle, a white commercial vehicle to the back of the ego vehicle, a black car to the front right of the ego vehicle, and a red traffic sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,137.5,645.8>, <c2,CAM_BACK,1081.7,495.8>, <c3,CAM_FRONT_RIGHT,676.7,485.0>, and <c4,CAM_FRONT_RIGHT,817.0,461.7>."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_76ed31da2e6b4a60986764cb6dd79c0f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153699662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153699654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153699670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153699687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153699697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153699678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,137.5,645.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_76ed31da2e6b4a60986764cb6dd79c0f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153699662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153699654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153699670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153699687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153699697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153699678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,137.5,645.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_76ed31da2e6b4a60986764cb6dd79c0f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153699662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153699654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153699670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153699687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153699697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153699678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,137.5,645.8>? 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": "78c5f7d7b547483c906d8524a8c3190f_76ed31da2e6b4a60986764cb6dd79c0f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153699662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153699654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153699670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153699687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153699697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153699678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,137.5,645.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_76ed31da2e6b4a60986764cb6dd79c0f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153699662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153699654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153699670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153699687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153699697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153699678113.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": "78c5f7d7b547483c906d8524a8c3190f_76ed31da2e6b4a60986764cb6dd79c0f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153699662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153699654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153699670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153699687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153699697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153699678113.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": "78c5f7d7b547483c906d8524a8c3190f_e116c259bf3c453cbcc6c76e9ca6042f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153702612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153702604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153702620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153702637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153702647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153702628113.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 gray sedan to the front right of the ego vehicle, and a red road sign to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,966.7,490.0>, <c2,CAM_FRONT_RIGHT,989.2,516.7>, and <c3,CAM_BACK_RIGHT,484.3,478.2>."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_e116c259bf3c453cbcc6c76e9ca6042f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153702612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153702604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153702620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153702637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153702647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153702628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,966.7,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_e116c259bf3c453cbcc6c76e9ca6042f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153702612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153702604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153702620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153702637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153702647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153702628113.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 <c2,CAM_FRONT_RIGHT,989.2,516.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_BACK_RIGHT,484.3,478.2>. The object is a traffic sign, so the ego vehicle should slow down and go ahead. Thirdly, notice that <c1,CAM_BACK,966.7,490.0>. The object is turning right, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_e116c259bf3c453cbcc6c76e9ca6042f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153702612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153702604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153702620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153702637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153702647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153702628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,966.7,490.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_e116c259bf3c453cbcc6c76e9ca6042f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153702612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153702604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153702620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153702637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153702647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153702628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,966.7,490.0>? 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": "78c5f7d7b547483c906d8524a8c3190f_e116c259bf3c453cbcc6c76e9ca6042f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153702612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153702604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153702620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153702637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153702647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153702628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,966.7,490.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_e116c259bf3c453cbcc6c76e9ca6042f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153702612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153702604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153702620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153702637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153702647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153702628113.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, brake suddenly, slightly offset to the left, slightly offset to the right, turn left, turn right."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_e116c259bf3c453cbcc6c76e9ca6042f_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153702612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153702604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153702620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153702637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153702647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153702628113.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": "78c5f7d7b547483c906d8524a8c3190f_f3cbcf06a5b6444eb882e36f9dfc92f6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153696678113.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 back of the ego vehicle, a black sedan to the back left of the ego vehicle, a black pickup truck to the front right of the ego vehicle, a black sedan to the back right of the ego vehicle, and a red and white traffic sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,804.2,466.7>, <c2,CAM_BACK_LEFT,1250.8,548.3>, <c3,CAM_FRONT_RIGHT,25.8,505.0>, <c4,CAM_BACK_RIGHT,1022.5,539.2>, and <c5,CAM_FRONT_RIGHT,223.1,464.4>."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_f3cbcf06a5b6444eb882e36f9dfc92f6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153696678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,804.2,466.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_f3cbcf06a5b6444eb882e36f9dfc92f6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153696678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,804.2,466.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_f3cbcf06a5b6444eb882e36f9dfc92f6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153696678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,804.2,466.7>? 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": "78c5f7d7b547483c906d8524a8c3190f_f3cbcf06a5b6444eb882e36f9dfc92f6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153696678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,804.2,466.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "78c5f7d7b547483c906d8524a8c3190f_f3cbcf06a5b6444eb882e36f9dfc92f6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153696678113.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": "78c5f7d7b547483c906d8524a8c3190f_f3cbcf06a5b6444eb882e36f9dfc92f6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153696678113.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": "3a1850241080418b88dcee97c7d17ed7_0bc4310298d34311a063c0fc07879f4f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886157012469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886157004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886157020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886157037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886157047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886157027893.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 woman wearing a white shirt to the front right of the ego vehicle, a black car to the front of the ego vehicle, a man wearing jeans to the front of the ego vehicle, a woman wearing a blue top to the front of the ego vehicle, and a traffic light is red to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,841.7,500.8>, <c2,CAM_FRONT_RIGHT,472.5,628.3>, <c3,CAM_FRONT,1405.8,514.2>, <c4,CAM_FRONT,1024.2,615.8>, <c5,CAM_FRONT,517.5,478.3>, and <c6,CAM_FRONT,260.9,235.0>."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_0bc4310298d34311a063c0fc07879f4f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886157012469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886157004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886157020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886157037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886157047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886157027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,841.7,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_0bc4310298d34311a063c0fc07879f4f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886157012469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886157004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886157020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886157037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886157047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886157027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,841.7,500.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_0bc4310298d34311a063c0fc07879f4f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886157012469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886157004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886157020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886157037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886157047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886157027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,841.7,500.8>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_0bc4310298d34311a063c0fc07879f4f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886157012469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886157004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886157020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886157037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886157047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886157027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,841.7,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_0bc4310298d34311a063c0fc07879f4f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886157012469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886157004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886157020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886157037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886157047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886157027893.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, brake suddenly."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_0bc4310298d34311a063c0fc07879f4f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886157012469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886157004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886157020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886157037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886157047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886157027893.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": "3a1850241080418b88dcee97c7d17ed7_94ba4bb5b423408fb6a140798968e98d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886144912468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886144904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886144920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886144937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886144947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886144927893.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 white clothes to the back of the ego vehicle, a blue and white taxi to the back left of the ego vehicle, and a sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,828.3,555.8>, <c2,CAM_BACK_LEFT,749.6,676.7>, and <c3,CAM_FRONT,389.3,482.4>."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_94ba4bb5b423408fb6a140798968e98d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886144912468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886144904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886144920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886144937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886144947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886144927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,828.3,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_94ba4bb5b423408fb6a140798968e98d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886144912468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886144904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886144920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886144937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886144947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886144927893.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 <c3,CAM_FRONT,389.3,482.4>. The object is stationary, so the ego vehicle should slow down and proceed. Secondly, notice <c2,CAM_BACK_LEFT,749.6,676.7>. The object is going ahead, so the ego vehicle should slow down and proceed. Thirdly, notice <c1,CAM_BACK,828.3,555.8>. The object is going ahead, so the ego vehicle should slow down and proceed."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_94ba4bb5b423408fb6a140798968e98d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886144912468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886144904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886144920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886144937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886144947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886144927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,828.3,555.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_94ba4bb5b423408fb6a140798968e98d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886144912468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886144904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886144920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886144937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886144947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886144927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,828.3,555.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to decelerate gradually without braking because there is no safety issue. The probability is high."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_94ba4bb5b423408fb6a140798968e98d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886144912468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886144904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886144920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886144937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886144947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886144927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,828.3,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_94ba4bb5b423408fb6a140798968e98d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886144912468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886144904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886144920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886144937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886144947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886144927893.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": "3a1850241080418b88dcee97c7d17ed7_94ba4bb5b423408fb6a140798968e98d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886144912468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886144904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886144920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886144937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886144947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886144927893.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 with normal speed."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_1d0745e306594cd0a5ec16cf63d496c2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886154012464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886154004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886154020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886154037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886154047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886154027893.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 pedestrian crossing the road to the front right of the ego vehicle, a pedestrian crossing the road to the front right of the ego vehicle, pedestrians preparing to cross the road to the front of the ego vehicle, a black car to the front of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,840.8,505.0>, <c2,CAM_FRONT_RIGHT,972.5,602.5>, <c3,CAM_FRONT_RIGHT,520.8,619.2>, <c4,CAM_FRONT,535.0,460.0>, <c5,CAM_FRONT,1355.9,503.1>, and <c6,CAM_FRONT,265.3,223.1>."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_1d0745e306594cd0a5ec16cf63d496c2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886154012464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886154004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886154020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886154037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886154047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886154027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,840.8,505.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_1d0745e306594cd0a5ec16cf63d496c2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886154012464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886154004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886154020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886154037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886154047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886154027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,840.8,505.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_1d0745e306594cd0a5ec16cf63d496c2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886154012464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886154004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886154020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886154037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886154047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886154027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,840.8,505.0>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary. The reason is that there is no safety issue, and the probability is high."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_1d0745e306594cd0a5ec16cf63d496c2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886154012464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886154004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886154020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886154037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886154047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886154027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,840.8,505.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_1d0745e306594cd0a5ec16cf63d496c2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886154012464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886154004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886154020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886154037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886154047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886154027893.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 come to a stop."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_1d0745e306594cd0a5ec16cf63d496c2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886154012464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886154004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886154020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886154037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886154047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886154027893.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": "3a1850241080418b88dcee97c7d17ed7_48676dfadb7e4abfacd4ec684182fbdb_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886140012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886140004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886140020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886140037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886140047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886140027893.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 crossing the road to the back right of the ego vehicle, pedestrians crossing the road to the front of the ego vehicle, a blue sedan to the front of the ego vehicle, pedestrians crossing the road to the back right of the ego vehicle, pedestrians crossing the road to the front of the ego vehicle, and a road sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,702.5,607.5>, <c2,CAM_FRONT,1370.0,585.0>, <c3,CAM_FRONT,765.8,519.2>, <c4,CAM_BACK_RIGHT,566.7,610.8>, <c5,CAM_FRONT,1308.3,582.5>, and <c6,CAM_FRONT,639.6,464.0>."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_48676dfadb7e4abfacd4ec684182fbdb_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886140012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886140004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886140020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886140037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886140047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886140027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,702.5,607.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_48676dfadb7e4abfacd4ec684182fbdb_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886140012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886140004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886140020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886140037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886140047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886140027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,702.5,607.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_48676dfadb7e4abfacd4ec684182fbdb_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886140012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886140004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886140020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886140037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886140047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886140027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,702.5,607.5>? 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": "3a1850241080418b88dcee97c7d17ed7_48676dfadb7e4abfacd4ec684182fbdb_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886140012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886140004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886140020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886140037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886140047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886140027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,702.5,607.5>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_48676dfadb7e4abfacd4ec684182fbdb_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886140012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886140004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886140020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886140037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886140047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886140027893.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": "Accelerate and go ahead, and keep going at the same speed."
            }
        ]
    },
    {
        "id": "3a1850241080418b88dcee97c7d17ed7_48676dfadb7e4abfacd4ec684182fbdb_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886140012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886140004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886140020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886140037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886140047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886140027893.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 with normal speed."
            }
        ]
    },
    {
        "id": "c6072dd4f7cc47efaad77889aa465ad6_edabe2c041384d4592e8319b967b37ca_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986160262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986160254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986160270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986160287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986160297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986160277893.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-brown sedan to the back of the ego vehicle, a pedestrian wearing a blue shirt to the front of the ego vehicle, and a red car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,845.8,543.3>, <c2,CAM_FRONT,1322.5,550.0>, and <c3,CAM_FRONT,865.0,496.7>."
            }
        ]
    },
    {
        "id": "c6072dd4f7cc47efaad77889aa465ad6_edabe2c041384d4592e8319b967b37ca_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986160262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986160254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986160270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986160287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986160297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986160277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,845.8,543.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c6072dd4f7cc47efaad77889aa465ad6_edabe2c041384d4592e8319b967b37ca_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986160262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986160254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986160270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986160287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986160297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986160277893.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 <c2,CAM_FRONT,1322.5,550.0>. It is going ahead, so the ego vehicle should slow down and go ahead. Secondly, notice <c3,CAM_FRONT,865.0,496.7>. It is turning right, so the ego vehicle should slow down and go ahead. Thirdly, notice <c1,CAM_BACK,845.8,543.3>. It is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "c6072dd4f7cc47efaad77889aa465ad6_edabe2c041384d4592e8319b967b37ca_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986160262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986160254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986160270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986160287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986160297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986160277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,845.8,543.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c6072dd4f7cc47efaad77889aa465ad6_edabe2c041384d4592e8319b967b37ca_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986160262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986160254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986160270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986160287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986160297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986160277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,845.8,543.3>? 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": "c6072dd4f7cc47efaad77889aa465ad6_edabe2c041384d4592e8319b967b37ca_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986160262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986160254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986160270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986160287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986160297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986160277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,845.8,543.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "c6072dd4f7cc47efaad77889aa465ad6_edabe2c041384d4592e8319b967b37ca_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986160262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986160254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986160270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986160287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986160297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986160277893.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": "c6072dd4f7cc47efaad77889aa465ad6_edabe2c041384d4592e8319b967b37ca_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986160262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986160254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986160270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986160287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986160297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986160277893.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": "212b65c558254e2084489bf76e371e1a_84248a0f5d944fe68b0c89918fe20eb2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279659612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279659604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279659620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279659637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279659647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279659627893.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 front right of the ego vehicle, a gray sedan to the front right of the ego vehicle, and a red roadblock to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,248.3,713.3>, <c2,CAM_FRONT_RIGHT,629.2,702.0>, and <c3,CAM_FRONT,167.5,721.7>."
            }
        ]
    },
    {
        "id": "212b65c558254e2084489bf76e371e1a_84248a0f5d944fe68b0c89918fe20eb2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279659612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279659604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279659620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279659637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279659647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279659627893.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 <c2,CAM_FRONT_RIGHT,629.2,702.0>; it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c1,CAM_FRONT_RIGHT,248.3,713.3>; it is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c3,CAM_FRONT,167.5,721.7>; it is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "212b65c558254e2084489bf76e371e1a_84248a0f5d944fe68b0c89918fe20eb2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279659612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279659604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279659620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279659637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279659647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279659627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,248.3,713.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "212b65c558254e2084489bf76e371e1a_84248a0f5d944fe68b0c89918fe20eb2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279659612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279659604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279659620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279659637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279659647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279659627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,248.3,713.3>? 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": "212b65c558254e2084489bf76e371e1a_84248a0f5d944fe68b0c89918fe20eb2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279659612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279659604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279659620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279659637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279659647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279659627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,248.3,713.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "212b65c558254e2084489bf76e371e1a_84248a0f5d944fe68b0c89918fe20eb2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279659612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279659604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279659620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279659637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279659647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279659627893.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": "212b65c558254e2084489bf76e371e1a_84248a0f5d944fe68b0c89918fe20eb2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279659612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279659604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279659620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279659637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279659647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279659627893.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": "212b65c558254e2084489bf76e371e1a_93143577a40848c8a99027ab8627e18c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279677162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279677154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279677170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279677187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279677197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279677177893.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 compact car to the front of the ego vehicle, a pedestrian wearing blue pants to the front of the ego vehicle, and a yellow mini car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,657.5,555.0>, <c2,CAM_FRONT,743.3,539.2>, and <c3,CAM_FRONT,677.5,537.5>."
            }
        ]
    },
    {
        "id": "212b65c558254e2084489bf76e371e1a_93143577a40848c8a99027ab8627e18c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279677162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279677154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279677170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279677187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279677197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279677177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,743.3,539.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "212b65c558254e2084489bf76e371e1a_93143577a40848c8a99027ab8627e18c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279677162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279677154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279677170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279677187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279677197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279677177893.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 <c1,CAM_FRONT,657.5,555.0>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,743.3,539.2>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,677.5,537.5>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "212b65c558254e2084489bf76e371e1a_93143577a40848c8a99027ab8627e18c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279677162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279677154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279677170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279677187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279677197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279677177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,657.5,555.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "212b65c558254e2084489bf76e371e1a_93143577a40848c8a99027ab8627e18c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279677162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279677154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279677170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279677187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279677197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279677177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,657.5,555.0>? 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": "212b65c558254e2084489bf76e371e1a_93143577a40848c8a99027ab8627e18c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279677162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279677154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279677170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279677187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279677197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279677177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,657.5,555.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "212b65c558254e2084489bf76e371e1a_93143577a40848c8a99027ab8627e18c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279677162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279677154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279677170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279677187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279677197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279677177893.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": "212b65c558254e2084489bf76e371e1a_93143577a40848c8a99027ab8627e18c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279677162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279677154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279677170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279677187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279677197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279677177893.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": "448cf480b0b8400a86881d28c2c5f734_e2f2e1a4e3a94232b8d360748ceb53d4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915423512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915423504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915423519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915423537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915423547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915423527813.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 motorhome to the front left of the ego vehicle, a red car to the back right of the ego vehicle, and a white car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,654.2,423.3>, <c2,CAM_FRONT_LEFT,690.0,390.0>, <c3,CAM_BACK_RIGHT,1337.5,520.8>, and <c4,CAM_FRONT,1088.3,440.8>."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_e2f2e1a4e3a94232b8d360748ceb53d4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915423512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915423504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915423519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915423537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915423547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915423527813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,654.2,423.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_e2f2e1a4e3a94232b8d360748ceb53d4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915423512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915423504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915423519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915423537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915423547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915423527813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,654.2,423.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_e2f2e1a4e3a94232b8d360748ceb53d4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915423512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915423504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915423519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915423537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915423547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915423527813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,654.2,423.3>? 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": "448cf480b0b8400a86881d28c2c5f734_e2f2e1a4e3a94232b8d360748ceb53d4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915423512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915423504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915423519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915423537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915423547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915423527813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,654.2,423.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_e2f2e1a4e3a94232b8d360748ceb53d4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915423512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915423504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915423519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915423537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915423547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915423527813.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_e2f2e1a4e3a94232b8d360748ceb53d4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915423512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915423504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915423519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915423537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915423547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915423527813.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": "448cf480b0b8400a86881d28c2c5f734_c16a3635103847b0a9cfc4268bd0c272_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915420512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915420504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915420519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915420537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915420547304.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915420527813.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 back right of the ego vehicle, a blue truck to the front right of the ego vehicle, and a white and blue truck box to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,710.8,430.8>, <c2,CAM_BACK_RIGHT,138.9,309.2>, <c3,CAM_FRONT_RIGHT,970.0,307.5>, and <c4,CAM_FRONT,1395.8,340.8>."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_c16a3635103847b0a9cfc4268bd0c272_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915420512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915420504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915420519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915420537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915420547304.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915420527813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,710.8,430.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_c16a3635103847b0a9cfc4268bd0c272_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915420512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915420504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915420519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915420537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915420547304.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915420527813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,710.8,430.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_c16a3635103847b0a9cfc4268bd0c272_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915420512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915420504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915420519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915420537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915420547304.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915420527813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,710.8,430.8>? 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": "448cf480b0b8400a86881d28c2c5f734_c16a3635103847b0a9cfc4268bd0c272_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915420512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915420504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915420519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915420537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915420547304.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915420527813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,710.8,430.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_c16a3635103847b0a9cfc4268bd0c272_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915420512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915420504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915420519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915420537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915420547304.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915420527813.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 left lane."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_c16a3635103847b0a9cfc4268bd0c272_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915420512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915420504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915420519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915420537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915420547304.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915420527813.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": "448cf480b0b8400a86881d28c2c5f734_37ce810641124b06be766c880df322d1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915426362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915426354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915426369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915426387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915426397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915426377813.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 of the ego vehicle, a silver sedan to the front left of the ego vehicle, a road is relatively empty to the back right of the ego vehicle, and a white SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,548.3,435.0>, <c2,CAM_FRONT_LEFT,850.8,497.5>, <c3,CAM_BACK_RIGHT,237.5,411.7>, and <c4,CAM_FRONT,994.2,425.8>."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_37ce810641124b06be766c880df322d1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915426362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915426354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915426369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915426387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915426397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915426377813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,548.3,435.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_37ce810641124b06be766c880df322d1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915426362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915426354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915426369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915426387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915426397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915426377813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,548.3,435.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_37ce810641124b06be766c880df322d1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915426362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915426354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915426369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915426387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915426397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915426377813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,548.3,435.0>? 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": "448cf480b0b8400a86881d28c2c5f734_37ce810641124b06be766c880df322d1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915426362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915426354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915426369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915426387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915426397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915426377813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,548.3,435.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_37ce810641124b06be766c880df322d1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915426362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915426354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915426369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915426387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915426397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915426377813.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": "448cf480b0b8400a86881d28c2c5f734_37ce810641124b06be766c880df322d1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915426362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915426354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915426369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915426387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915426397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915426377813.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 fast."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_698a1db7f53e4b81a2d99658dbc4e790_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915415012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915415004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915415019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915415037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915415047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915415027813.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 black sedan to the back of the ego vehicle, and a black and white truck to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,929.4,440.8>, <c2,CAM_BACK,681.7,422.5>, and <c3,CAM_BACK_LEFT,629.2,401.7>."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_698a1db7f53e4b81a2d99658dbc4e790_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915415012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915415004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915415019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915415037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915415047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915415027813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,681.7,422.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_698a1db7f53e4b81a2d99658dbc4e790_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915415012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915415004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915415019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915415037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915415047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915415027813.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 <c1,CAM_FRONT,929.4,440.8>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_BACK_LEFT,629.2,401.7>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,681.7,422.5>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_698a1db7f53e4b81a2d99658dbc4e790_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915415012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915415004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915415019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915415037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915415047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915415027813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,929.4,440.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_698a1db7f53e4b81a2d99658dbc4e790_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915415012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915415004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915415019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915415037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915415047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915415027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,929.4,440.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to accelerate and go ahead because there is no safety issue, with a high probability."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_698a1db7f53e4b81a2d99658dbc4e790_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915415012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915415004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915415019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915415037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915415047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915415027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,929.4,440.8>?"
            },
            {
                "from": "gpt",
                "value": "None."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_698a1db7f53e4b81a2d99658dbc4e790_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915415012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915415004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915415019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915415037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915415047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915415027813.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 ahead."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_698a1db7f53e4b81a2d99658dbc4e790_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915415012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915415004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915415019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915415037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915415047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915415027813.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": "448cf480b0b8400a86881d28c2c5f734_4bd17f5cd7f74444bfbe6cf54f12ea9b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915431262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915431254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915431269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915431287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915431297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915431277813.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 business to the back left of the ego vehicle, a red car to the front right of the ego vehicle, and a white zebra crossing to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,335.0,440.0>, <c2,CAM_BACK_LEFT,1060.8,508.3>, <c3,CAM_FRONT_RIGHT,464.2,445.8>, and <c4,CAM_FRONT,799.1,768.2>."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_4bd17f5cd7f74444bfbe6cf54f12ea9b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915431262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915431254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915431269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915431287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915431297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915431277813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,335.0,440.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_4bd17f5cd7f74444bfbe6cf54f12ea9b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915431262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915431254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915431269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915431287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915431297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915431277813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,335.0,440.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_4bd17f5cd7f74444bfbe6cf54f12ea9b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915431262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915431254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915431269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915431287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915431297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915431277813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,335.0,440.0>? 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": "448cf480b0b8400a86881d28c2c5f734_4bd17f5cd7f74444bfbe6cf54f12ea9b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915431262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915431254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915431269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915431287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915431297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915431277813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,335.0,440.0>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_4bd17f5cd7f74444bfbe6cf54f12ea9b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915431262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915431254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915431269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915431287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915431297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915431277813.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, brake gently to a stop, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_4bd17f5cd7f74444bfbe6cf54f12ea9b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915431262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915431254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915431269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915431287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915431297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915431277813.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": "448cf480b0b8400a86881d28c2c5f734_921bb903c38c4254b89223474145b43f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915419012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915419004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915419019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915419037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915419047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915419027813.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 truck to the front right of the ego vehicle, a black commercial vehicle to the back right of the ego vehicle, and a black car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1184.3,391.2>, <c2,CAM_FRONT_RIGHT,888.3,295.8>, <c3,CAM_BACK_RIGHT,715.0,592.5>, and <c4,CAM_BACK,689.2,429.2>."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_921bb903c38c4254b89223474145b43f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915419012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915419004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915419019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915419037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915419047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915419027813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,689.2,429.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_921bb903c38c4254b89223474145b43f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915419012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915419004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915419019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915419037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915419047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915419027813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1184.3,391.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_921bb903c38c4254b89223474145b43f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915419012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915419004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915419019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915419037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915419047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915419027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1184.3,391.2>? 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": "448cf480b0b8400a86881d28c2c5f734_921bb903c38c4254b89223474145b43f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915419012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915419004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915419019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915419037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915419047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915419027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1184.3,391.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1184.3,391.2>."
            }
        ]
    },
    {
        "id": "448cf480b0b8400a86881d28c2c5f734_921bb903c38c4254b89223474145b43f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915419012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915419004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915419019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915419037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915419047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915419027813.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": "448cf480b0b8400a86881d28c2c5f734_921bb903c38c4254b89223474145b43f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915419012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915419004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915419019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915419037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915419047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915419027813.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": "ccf96ecd7161425ba7c5b5dbad79b600_c3c0f19ba0c24a55834461d47aabf2c2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478842762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478842754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478842770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478842787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478842797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478842778113.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 in white clothes to the front right of the ego vehicle, a black sedan to the back of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1065.0,591.7>, <c2,CAM_BACK,857.5,525.8>, and <c3,CAM_FRONT,881.7,486.7>."
            }
        ]
    },
    {
        "id": "ccf96ecd7161425ba7c5b5dbad79b600_c3c0f19ba0c24a55834461d47aabf2c2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478842762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478842754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478842770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478842787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478842797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478842778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,857.5,525.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ccf96ecd7161425ba7c5b5dbad79b600_c3c0f19ba0c24a55834461d47aabf2c2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478842762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478842754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478842770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478842787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478842797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478842778113.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 <c3,CAM_FRONT,881.7,486.7>. It is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c1,CAM_FRONT_RIGHT,1065.0,591.7>. It is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c2,CAM_BACK,857.5,525.8>. It is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "ccf96ecd7161425ba7c5b5dbad79b600_c3c0f19ba0c24a55834461d47aabf2c2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478842762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478842754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478842770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478842787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478842797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478842778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1065.0,591.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ccf96ecd7161425ba7c5b5dbad79b600_c3c0f19ba0c24a55834461d47aabf2c2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478842762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478842754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478842770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478842787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478842797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478842778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1065.0,591.7>? 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": "ccf96ecd7161425ba7c5b5dbad79b600_c3c0f19ba0c24a55834461d47aabf2c2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478842762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478842754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478842770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478842787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478842797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478842778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1065.0,591.7>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "ccf96ecd7161425ba7c5b5dbad79b600_c3c0f19ba0c24a55834461d47aabf2c2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478842762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478842754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478842770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478842787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478842797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478842778113.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, decelerate gradually without braking, accelerate, and continue forward."
            }
        ]
    },
    {
        "id": "ccf96ecd7161425ba7c5b5dbad79b600_c3c0f19ba0c24a55834461d47aabf2c2_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478842762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478842754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478842770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478842787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478842797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478842778113.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": "ccf96ecd7161425ba7c5b5dbad79b600_a7756956de1b4536b3e5be7dcd91fa07_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478840262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478840254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478840270530.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478840287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478840297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478840278113.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 still pedestrian to the front of the ego vehicle, a blue sedan car to the back of the ego vehicle, and a road is relatively empty to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1221.7,514.2>, <c2,CAM_BACK,850.8,521.7>, and <c3,CAM_FRONT,806.9,481.8>."
            }
        ]
    },
    {
        "id": "ccf96ecd7161425ba7c5b5dbad79b600_a7756956de1b4536b3e5be7dcd91fa07_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478840262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478840254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478840270530.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478840287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478840297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478840278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,850.8,521.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ccf96ecd7161425ba7c5b5dbad79b600_a7756956de1b4536b3e5be7dcd91fa07_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478840262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478840254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478840270530.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478840287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478840297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478840278113.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 <c1,CAM_FRONT,1221.7,514.2>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,806.9,481.8>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,850.8,521.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "ccf96ecd7161425ba7c5b5dbad79b600_a7756956de1b4536b3e5be7dcd91fa07_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478840262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478840254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478840270530.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478840287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478840297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478840278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1221.7,514.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ccf96ecd7161425ba7c5b5dbad79b600_a7756956de1b4536b3e5be7dcd91fa07_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478840262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478840254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478840270530.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478840287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478840297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478840278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1221.7,514.2>? 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": "ccf96ecd7161425ba7c5b5dbad79b600_a7756956de1b4536b3e5be7dcd91fa07_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478840262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478840254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478840270530.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478840287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478840297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478840278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1221.7,514.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "ccf96ecd7161425ba7c5b5dbad79b600_a7756956de1b4536b3e5be7dcd91fa07_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478840262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478840254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478840270530.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478840287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478840297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478840278113.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": "Accelerate and proceed, decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "ccf96ecd7161425ba7c5b5dbad79b600_a7756956de1b4536b3e5be7dcd91fa07_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478840262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478840254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478840270530.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478840287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478840297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478840278113.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": "ed22649f50454a6ab71356780b2a2454_b413b1a441f64d1ca2240529f6bcd704_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622029762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622029754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622029770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622029787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622029797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622029778113.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 black truck to the front left of the ego vehicle, a red and white billboard to the front of the ego vehicle, and a white truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,886.7,526.7>, <c2,CAM_FRONT_LEFT,119.2,387.5>, <c3,CAM_FRONT,601.6,482.2>, and <c4,CAM_FRONT_LEFT,600.0,411.7>."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_b413b1a441f64d1ca2240529f6bcd704_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622029762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622029754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622029770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622029787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622029797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622029778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,886.7,526.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_b413b1a441f64d1ca2240529f6bcd704_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622029762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622029754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622029770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622029787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622029797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622029778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,886.7,526.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_b413b1a441f64d1ca2240529f6bcd704_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622029762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622029754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622029770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622029787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622029797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622029778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,886.7,526.7>? 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, high."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_b413b1a441f64d1ca2240529f6bcd704_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622029762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622029754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622029770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622029787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622029797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622029778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,886.7,526.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_b413b1a441f64d1ca2240529f6bcd704_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622029762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622029754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622029770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622029787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622029797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622029778113.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": "ed22649f50454a6ab71356780b2a2454_b413b1a441f64d1ca2240529f6bcd704_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622029762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622029754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622029770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622029787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622029797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622029778113.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": "ed22649f50454a6ab71356780b2a2454_5b7e98aace144ad2843b24f262a70891_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622018612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622018604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622018620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622018637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622018647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622018628113.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 blue sedan to the front left of the ego vehicle, and a road sign to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,946.5,586.4>, <c2,CAM_FRONT_LEFT,515.8,587.5>, and <c3,CAM_FRONT_LEFT,1366.4,484.6>."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_5b7e98aace144ad2843b24f262a70891_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622018612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622018604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622018620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622018637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622018647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622018628113.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 <c2,CAM_FRONT_LEFT,515.8,587.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_LEFT,1366.4,484.6>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,946.5,586.4>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_5b7e98aace144ad2843b24f262a70891_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622018612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622018604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622018620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622018637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622018647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622018628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,946.5,586.4> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_5b7e98aace144ad2843b24f262a70891_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622018612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622018604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622018620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622018637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622018647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622018628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,946.5,586.4>? 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": "ed22649f50454a6ab71356780b2a2454_5b7e98aace144ad2843b24f262a70891_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622018612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622018604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622018620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622018637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622018647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622018628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,946.5,586.4>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_5b7e98aace144ad2843b24f262a70891_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622018612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622018604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622018620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622018637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622018647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622018628113.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": "ed22649f50454a6ab71356780b2a2454_5b7e98aace144ad2843b24f262a70891_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622018612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622018604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622018620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622018637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622018647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622018628113.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": "ed22649f50454a6ab71356780b2a2454_1bb59128f07b4512a4aa6ef0a5ad3f7d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622031262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622031254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622031270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622031287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622031297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622031278113.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 road sign to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,860.0,523.3>, <c2,CAM_FRONT,503.4,470.8>, and <c3,CAM_FRONT,120.8,585.0>."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_1bb59128f07b4512a4aa6ef0a5ad3f7d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622031262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622031254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622031270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622031287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622031297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622031278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,860.0,523.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_1bb59128f07b4512a4aa6ef0a5ad3f7d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622031262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622031254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622031270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622031287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622031297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622031278113.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 <c3,CAM_FRONT,120.8,585.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,503.4,470.8>. The object is a traffic sign, so the ego vehicle should slow down and go ahead. Thirdly, notice that <c1,CAM_BACK,860.0,523.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_1bb59128f07b4512a4aa6ef0a5ad3f7d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622031262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622031254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622031270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622031287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622031297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622031278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,860.0,523.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_1bb59128f07b4512a4aa6ef0a5ad3f7d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622031262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622031254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622031270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622031287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622031297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622031278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,860.0,523.3>? 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": "ed22649f50454a6ab71356780b2a2454_1bb59128f07b4512a4aa6ef0a5ad3f7d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622031262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622031254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622031270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622031287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622031297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622031278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,860.0,523.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "ed22649f50454a6ab71356780b2a2454_1bb59128f07b4512a4aa6ef0a5ad3f7d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622031262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622031254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622031270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622031287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622031297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622031278113.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": "ed22649f50454a6ab71356780b2a2454_1bb59128f07b4512a4aa6ef0a5ad3f7d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622031262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622031254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622031270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622031287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622031297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622031278113.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": "cf10376382b74af1975be86f7190df20_19bde1d292f64b5eb7e6901bf1f24248_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279653012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279653004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279653020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279653037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279653047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279653027893.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 silver SUV to the back of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,1041.7,598.3>, <c2,CAM_BACK,1498.3,584.2>, and <c3,CAM_FRONT,940.8,510.8>."
            }
        ]
    },
    {
        "id": "cf10376382b74af1975be86f7190df20_19bde1d292f64b5eb7e6901bf1f24248_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279653012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279653004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279653020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279653037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279653047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279653027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,940.8,510.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "cf10376382b74af1975be86f7190df20_19bde1d292f64b5eb7e6901bf1f24248_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279653012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279653004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279653020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279653037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279653047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279653027893.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 <c1,CAM_BACK_LEFT,1041.7,598.3>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c2,CAM_BACK,1498.3,584.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c3,CAM_FRONT,940.8,510.8>. The object is backing up, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "cf10376382b74af1975be86f7190df20_19bde1d292f64b5eb7e6901bf1f24248_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279653012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279653004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279653020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279653037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279653047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279653027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,1041.7,598.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cf10376382b74af1975be86f7190df20_19bde1d292f64b5eb7e6901bf1f24248_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279653012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279653004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279653020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279653037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279653047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279653027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,1041.7,598.3>? 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": "cf10376382b74af1975be86f7190df20_19bde1d292f64b5eb7e6901bf1f24248_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279653012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279653004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279653020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279653037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279653047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279653027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,1041.7,598.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "cf10376382b74af1975be86f7190df20_19bde1d292f64b5eb7e6901bf1f24248_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279653012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279653004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279653020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279653037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279653047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279653027893.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": "cf10376382b74af1975be86f7190df20_19bde1d292f64b5eb7e6901bf1f24248_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279653012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279653004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279653020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279653037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279653047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279653027893.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": "cf10376382b74af1975be86f7190df20_108de7d185324283b8abe64df99a7c6e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279649012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279649005045.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279649020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279649037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279649047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279649027893.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 man wearing a blue shirt to the back left of the ego vehicle, a silver sedan to the front of the ego vehicle, and a straight white arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,1355.0,659.2>, <c2,CAM_FRONT,114.2,545.8>, and <c3,CAM_FRONT,835.8,544.4>."
            }
        ]
    },
    {
        "id": "cf10376382b74af1975be86f7190df20_108de7d185324283b8abe64df99a7c6e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279649012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279649005045.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279649020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279649037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279649047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279649027893.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 <c3,CAM_FRONT,835.8,544.4>; the object is a traffic sign and the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,114.2,545.8>; the object is stationary and the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK_LEFT,1355.0,659.2>; the object is stationary and the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "cf10376382b74af1975be86f7190df20_108de7d185324283b8abe64df99a7c6e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279649012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279649005045.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279649020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279649037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279649047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279649027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,1355.0,659.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cf10376382b74af1975be86f7190df20_108de7d185324283b8abe64df99a7c6e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279649012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279649005045.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279649020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279649037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279649047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279649027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,1355.0,659.2>? 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": "cf10376382b74af1975be86f7190df20_108de7d185324283b8abe64df99a7c6e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279649012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279649005045.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279649020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279649037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279649047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279649027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,114.2,545.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "cf10376382b74af1975be86f7190df20_108de7d185324283b8abe64df99a7c6e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279649012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279649005045.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279649020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279649037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279649047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279649027893.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": "cf10376382b74af1975be86f7190df20_108de7d185324283b8abe64df99a7c6e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279649012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279649005045.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279649020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279649037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279649047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279649027893.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": "2bbff07f5b4248eab483ddcf91cfa848_d7658b99f92b4e2d93d331aad89603a2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622245662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622245654801.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622245670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622245687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622245697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622245678113.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 sedan car to the back right of the ego vehicle, a person squatting in yellow clothes to the front right of the ego vehicle, and a pedestrian crossing to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1145.8,508.3>, <c2,CAM_BACK_RIGHT,717.5,665.8>, <c3,CAM_FRONT_RIGHT,674.2,625.8>, and <c4,CAM_FRONT,790.2,795.6>."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_d7658b99f92b4e2d93d331aad89603a2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622245662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622245654801.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622245670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622245687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622245697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622245678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1145.8,508.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_d7658b99f92b4e2d93d331aad89603a2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622245662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622245654801.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622245670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622245687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622245697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622245678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1145.8,508.3>? 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": "2bbff07f5b4248eab483ddcf91cfa848_d7658b99f92b4e2d93d331aad89603a2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622245662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622245654801.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622245670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622245687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622245697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622245678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1145.8,508.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_d7658b99f92b4e2d93d331aad89603a2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622245662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622245654801.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622245670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622245687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622245697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622245678113.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 turn right."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_d7658b99f92b4e2d93d331aad89603a2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622245662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622245654801.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622245670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622245687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622245697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622245678113.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": "2bbff07f5b4248eab483ddcf91cfa848_d688ad72dfbb44d5a306761b54b5a3b9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622242162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622242154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622242170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622242187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622242197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622242178113.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 white sedan to the front of the ego vehicle, a silver sedan to the back right of the ego vehicle, a black car to the front right of the ego vehicle, a black car to the front right of the ego vehicle, and a yield to pedestrians to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,672.5,599.2>, <c2,CAM_FRONT,1350.0,545.8>, <c3,CAM_BACK_RIGHT,854.4,648.3>, <c5,CAM_FRONT_RIGHT,1367.5,615.0>, <c4,CAM_FRONT_RIGHT,477.5,581.7>, and <c6,CAM_FRONT,1000.7,413.9>."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_d688ad72dfbb44d5a306761b54b5a3b9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622242162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622242154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622242170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622242187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622242197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622242178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1350.0,545.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_d688ad72dfbb44d5a306761b54b5a3b9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622242162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622242154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622242170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622242187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622242197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622242178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,672.5,599.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_d688ad72dfbb44d5a306761b54b5a3b9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622242162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622242154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622242170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622242187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622242197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622242178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,672.5,599.2>? 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": "2bbff07f5b4248eab483ddcf91cfa848_d688ad72dfbb44d5a306761b54b5a3b9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622242162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622242154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622242170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622242187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622242197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622242178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,672.5,599.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_d688ad72dfbb44d5a306761b54b5a3b9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622242162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622242154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622242170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622242187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622242197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622242178113.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": "2bbff07f5b4248eab483ddcf91cfa848_d688ad72dfbb44d5a306761b54b5a3b9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622242162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622242154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622242170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622242187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622242197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622242178113.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": "2bbff07f5b4248eab483ddcf91cfa848_9f434ad459a84b2a970794b40ab393a0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622233162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622233154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622233170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622233187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622233197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622233178113.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 black sedan car to the front right of the ego vehicle, a walking person to the front of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1321.7,375.8>, <c2,CAM_FRONT_RIGHT,1082.5,620.8>, <c3,CAM_FRONT,1351.7,588.3>, and <c4,CAM_BACK,827.5,478.3>."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_9f434ad459a84b2a970794b40ab393a0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622233162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622233154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622233170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622233187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622233197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622233178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,1351.7,588.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_9f434ad459a84b2a970794b40ab393a0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622233162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622233154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622233170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622233187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622233197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622233178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1321.7,375.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_9f434ad459a84b2a970794b40ab393a0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622233162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622233154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622233170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622233187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622233197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622233178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1321.7,375.8>? 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 is high."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_9f434ad459a84b2a970794b40ab393a0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622233162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622233154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622233170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622233187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622233197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622233178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1321.7,375.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_9f434ad459a84b2a970794b40ab393a0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622233162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622233154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622233170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622233187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622233197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622233178113.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": "2bbff07f5b4248eab483ddcf91cfa848_9f434ad459a84b2a970794b40ab393a0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622233162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622233154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622233170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622233187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622233197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622233178113.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": "2bbff07f5b4248eab483ddcf91cfa848_4e5d6ce69e7f42ecb4ba4d81af57d719_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622235662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622235654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622235670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622235687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622235697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622235678113.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 right of the ego vehicle, a black car to the back right of the ego vehicle, a delivery driver to the back right of the ego vehicle, a silver sedan to the back right of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,697.0,446.5>, <c2,CAM_BACK_RIGHT,1005.8,645.0>, <c3,CAM_BACK_RIGHT,885.8,606.7>, <c4,CAM_BACK_RIGHT,675.0,670.0>, and <c5,CAM_BACK,851.7,473.3>."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_4e5d6ce69e7f42ecb4ba4d81af57d719_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622235662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622235654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622235670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622235687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622235697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622235678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK_RIGHT,885.8,606.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_4e5d6ce69e7f42ecb4ba4d81af57d719_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622235662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622235654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622235670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622235687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622235697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622235678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,697.0,446.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_4e5d6ce69e7f42ecb4ba4d81af57d719_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622235662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622235654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622235670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622235687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622235697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622235678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,697.0,446.5>? 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": "2bbff07f5b4248eab483ddcf91cfa848_4e5d6ce69e7f42ecb4ba4d81af57d719_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622235662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622235654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622235670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622235687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622235697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622235678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,697.0,446.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_4e5d6ce69e7f42ecb4ba4d81af57d719_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622235662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622235654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622235670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622235687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622235697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622235678113.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 brake gently to a stop."
            }
        ]
    },
    {
        "id": "2bbff07f5b4248eab483ddcf91cfa848_4e5d6ce69e7f42ecb4ba4d81af57d719_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622235662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622235654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622235670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622235687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622235697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622235678113.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": "fb255bba9b6a4f37a8894e336d2136f1_4527fc3a992343129e3de9a0aec49b8f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985174762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985174754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985174770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985174787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985174797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985174777893.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 walking to the front right of the ego vehicle, a green bus to the back of the ego vehicle, an orange car to the back of the ego vehicle, and a white straight arrow to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,739.2,555.8>, <c2,CAM_BACK,1077.5,446.9>, <c3,CAM_BACK,344.2,503.3>, and <c4,CAM_FRONT_LEFT,1263.2,755.6>."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_4527fc3a992343129e3de9a0aec49b8f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985174762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985174754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985174770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985174787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985174797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985174777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,739.2,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_4527fc3a992343129e3de9a0aec49b8f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985174762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985174754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985174770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985174787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985174797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985174777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,739.2,555.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_4527fc3a992343129e3de9a0aec49b8f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985174762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985174754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985174770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985174787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985174797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985174777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,739.2,555.8>? 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": "fb255bba9b6a4f37a8894e336d2136f1_4527fc3a992343129e3de9a0aec49b8f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985174762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985174754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985174770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985174787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985174797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985174777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,739.2,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_4527fc3a992343129e3de9a0aec49b8f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985174762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985174754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985174770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985174787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985174797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985174777893.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": "fb255bba9b6a4f37a8894e336d2136f1_4527fc3a992343129e3de9a0aec49b8f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985174762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985174754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985174770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985174787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985174797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985174777893.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": "fb255bba9b6a4f37a8894e336d2136f1_9177b2b338374f18ad8b77d0218004fc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985179112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985179104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985179120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985179137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985179147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985179127893.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 green bus to the back of the ego vehicle, a pedestrian wearing a blue shirt and shorts to the front of the ego vehicle, and a white English to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1136.8,525.8>, <c2,CAM_FRONT,1340.8,493.3>, and <c3,CAM_FRONT,1242.4,645.4>."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_9177b2b338374f18ad8b77d0218004fc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985179112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985179104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985179120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985179137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985179147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985179127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1136.8,525.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_9177b2b338374f18ad8b77d0218004fc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985179112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985179104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985179120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985179137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985179147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985179127893.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 <c3,CAM_FRONT,1242.4,645.4>, the state of which is a traffic sign, so the ego vehicle should slow down and proceed. Secondly notice that <c2,CAM_FRONT,1340.8,493.3>, the state of which is going ahead, so the ego vehicle should slow down and proceed. Thirdly notice that <c1,CAM_BACK,1136.8,525.8>, the state of which is turning left, so the ego vehicle should slow down and proceed."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_9177b2b338374f18ad8b77d0218004fc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985179112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985179104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985179120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985179137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985179147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985179127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1136.8,525.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_9177b2b338374f18ad8b77d0218004fc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985179112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985179104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985179120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985179137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985179147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985179127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1136.8,525.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to decelerate gradually without braking, the reason is there is no safety issue, high."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_9177b2b338374f18ad8b77d0218004fc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985179112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985179104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985179120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985179137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985179147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985179127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1136.8,525.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_9177b2b338374f18ad8b77d0218004fc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985179112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985179104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985179120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985179137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985179147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985179127893.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, keep going at the same speed, decelerate gradually without braking are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_9177b2b338374f18ad8b77d0218004fc_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985179112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985179104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985179120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985179137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985179147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985179127893.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 with normal speed."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_6960470e56374cedb4fcdc7ea094d8ee_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.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 green bus to the back of the ego vehicle, a pedestrian in black pants to the front of the ego vehicle, a convex mirror to the front of the ego vehicle, and a red sign to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,997.0,541.8>, <c2,CAM_FRONT,1440.0,488.3>, <c3,CAM_FRONT,1198.7,474.3>, and <c4,CAM_BACK_LEFT,440.5,445.8>."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_6960470e56374cedb4fcdc7ea094d8ee_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,997.0,541.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_6960470e56374cedb4fcdc7ea094d8ee_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,997.0,541.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_6960470e56374cedb4fcdc7ea094d8ee_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,997.0,541.8>? 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": "fb255bba9b6a4f37a8894e336d2136f1_6960470e56374cedb4fcdc7ea094d8ee_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,997.0,541.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_6960470e56374cedb4fcdc7ea094d8ee_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "fb255bba9b6a4f37a8894e336d2136f1_6960470e56374cedb4fcdc7ea094d8ee_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.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": "2bd47eabb64d4499862388cec180a7d1_7d9df87d81e6443489a1e1c783f0fdaa_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.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 left of the ego vehicle, a black car to the back of the ego vehicle, and a black SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,282.5,565.8>, <c2,CAM_BACK,838.3,538.3>, and <c3,CAM_FRONT_LEFT,1095.0,584.2>."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_7d9df87d81e6443489a1e1c783f0fdaa_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,838.3,538.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_7d9df87d81e6443489a1e1c783f0fdaa_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.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 <c3,CAM_FRONT_LEFT,1095.0,584.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_LEFT,282.5,565.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,838.3,538.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_7d9df87d81e6443489a1e1c783f0fdaa_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,282.5,565.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_7d9df87d81e6443489a1e1c783f0fdaa_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,282.5,565.8>? 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": "2bd47eabb64d4499862388cec180a7d1_7d9df87d81e6443489a1e1c783f0fdaa_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,282.5,565.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_7d9df87d81e6443489a1e1c783f0fdaa_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.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 proceed."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_7d9df87d81e6443489a1e1c783f0fdaa_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.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": "2bd47eabb64d4499862388cec180a7d1_32e3273ca4864a4f81045e7b60a80492_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478869912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478869904802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478869920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478869937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478869947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478869928113.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 container to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a road is relatively empty to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1355.0,477.5>, <c2,CAM_BACK,844.2,502.5>, and <c3,CAM_FRONT,120.9,525.8>."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_32e3273ca4864a4f81045e7b60a80492_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478869912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478869904802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478869920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478869937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478869947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478869928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,844.2,502.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_32e3273ca4864a4f81045e7b60a80492_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478869912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478869904802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478869920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478869937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478869947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478869928113.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 <c3,CAM_FRONT,120.9,525.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,1355.0,477.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,844.2,502.5>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_32e3273ca4864a4f81045e7b60a80492_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478869912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478869904802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478869920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478869937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478869947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478869928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1355.0,477.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_32e3273ca4864a4f81045e7b60a80492_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478869912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478869904802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478869920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478869937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478869947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478869928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1355.0,477.5>? 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": "2bd47eabb64d4499862388cec180a7d1_32e3273ca4864a4f81045e7b60a80492_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478869912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478869904802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478869920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478869937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478869947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478869928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,844.2,502.5>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_32e3273ca4864a4f81045e7b60a80492_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478869912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478869904802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478869920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478869937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478869947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478869928113.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": "2bd47eabb64d4499862388cec180a7d1_32e3273ca4864a4f81045e7b60a80492_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478869912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478869904802.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478869920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478869937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478869947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478869928113.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": "2bd47eabb64d4499862388cec180a7d1_56cc1c7035204dea9495a436a17e2d06_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478863504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478863528113.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 brown sedan to the front left of the ego vehicle, a white sedan car to the front right of the ego vehicle, a black sedan to the back of the ego vehicle, and a person in an orange shirt to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,625.8,533.3>, <c2,CAM_FRONT_RIGHT,575.8,600.0>, <c3,CAM_BACK,831.7,514.2>, and <c4,CAM_FRONT_RIGHT,81.7,585.0>."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_56cc1c7035204dea9495a436a17e2d06_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478863504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478863528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,831.7,514.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_56cc1c7035204dea9495a436a17e2d06_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478863504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478863528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,625.8,533.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_56cc1c7035204dea9495a436a17e2d06_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478863504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478863528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,625.8,533.3>? 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": "2bd47eabb64d4499862388cec180a7d1_56cc1c7035204dea9495a436a17e2d06_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478863504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478863528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,625.8,533.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_56cc1c7035204dea9495a436a17e2d06_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478863504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478863528113.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."
            }
        ]
    },
    {
        "id": "2bd47eabb64d4499862388cec180a7d1_56cc1c7035204dea9495a436a17e2d06_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478863512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478863504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478863520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478863537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478863547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478863528113.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": "4d475873416a4860900f5af213e0027c_4687c93cca6e4135ac78d549c286f393_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885909177893.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 brown SUV to the front of the ego vehicle, a pedestrian wearing a green shirt to the front of the ego vehicle, a woman in a red top to the back left of the ego vehicle, a man in black shirt to the front right of the ego vehicle, and a black SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1254.2,564.2>, <c2,CAM_FRONT,152.5,529.2>, <c3,CAM_BACK_LEFT,720.0,609.2>, <c4,CAM_FRONT_RIGHT,519.2,535.8>, and <c5,CAM_FRONT_LEFT,578.3,470.8>."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_4687c93cca6e4135ac78d549c286f393_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885909177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK_LEFT,720.0,609.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_4687c93cca6e4135ac78d549c286f393_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885909177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1254.2,564.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_4687c93cca6e4135ac78d549c286f393_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885909177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1254.2,564.2>? 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": "4d475873416a4860900f5af213e0027c_4687c93cca6e4135ac78d549c286f393_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885909177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1254.2,564.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_4687c93cca6e4135ac78d549c286f393_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885909177893.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, turn right, and slightly offset to the right."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_4687c93cca6e4135ac78d549c286f393_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885909177893.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": "4d475873416a4860900f5af213e0027c_a8904c5f0c604ec2bb7cc3e2c7ab07c5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885911662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885911654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885911670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885911687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885911697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885911677893.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 brown SUV to the front of the ego vehicle, a white sedan to the front right of the ego vehicle, a blue-gray mixed construction vehicle to the back of the ego vehicle, and a black SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1253.3,564.2>, <c2,CAM_FRONT_RIGHT,501.7,528.3>, <c3,CAM_BACK,1008.6,472.1>, and <c4,CAM_FRONT_LEFT,1450.5,542.5>."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_a8904c5f0c604ec2bb7cc3e2c7ab07c5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885911662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885911654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885911670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885911687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885911697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885911677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,501.7,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_a8904c5f0c604ec2bb7cc3e2c7ab07c5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885911662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885911654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885911670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885911687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885911697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885911677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1253.3,564.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_a8904c5f0c604ec2bb7cc3e2c7ab07c5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885911662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885911654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885911670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885911687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885911697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885911677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1253.3,564.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_a8904c5f0c604ec2bb7cc3e2c7ab07c5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885911662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885911654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885911670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885911687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885911697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885911677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1253.3,564.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_a8904c5f0c604ec2bb7cc3e2c7ab07c5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885911662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885911654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885911670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885911687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885911697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885911677893.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, turn right, turn left, slightly offset to the left, slightly offset to the right."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_a8904c5f0c604ec2bb7cc3e2c7ab07c5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885911662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885911654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885911670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885911687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885911697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885911677893.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": "4d475873416a4860900f5af213e0027c_6627628f72fb43d78288abb283deefcd_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885922112465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885922104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885922120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885922137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885922147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885922127893.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 brown truck to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a man wearing black clothes to the front of the ego vehicle, a man wearing black clothes to the front of the ego vehicle, and a slow down traffic sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,386.7,483.3>, <c2,CAM_FRONT,1026.7,495.8>, <c3,CAM_FRONT,849.2,485.8>, <c4,CAM_FRONT,661.7,486.7>, and <c5,CAM_FRONT,1165.4,458.1>."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_6627628f72fb43d78288abb283deefcd_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885922112465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885922104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885922120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885922137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885922147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885922127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,386.7,483.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_6627628f72fb43d78288abb283deefcd_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885922112465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885922104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885922120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885922137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885922147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885922127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,386.7,483.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_6627628f72fb43d78288abb283deefcd_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885922112465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885922104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885922120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885922137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885922147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885922127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,386.7,483.3>? 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": "4d475873416a4860900f5af213e0027c_6627628f72fb43d78288abb283deefcd_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885922112465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885922104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885922120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885922137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885922147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885922127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,386.7,483.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_6627628f72fb43d78288abb283deefcd_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885922112465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885922104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885922120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885922137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885922147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885922127893.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; brake gently to a stop."
            }
        ]
    },
    {
        "id": "4d475873416a4860900f5af213e0027c_6627628f72fb43d78288abb283deefcd_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885922112465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885922104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885922120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885922137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885922147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885922127893.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": "81227a12571240e0b9d537165f57e177_1761196e896746d3a9009d0884772a6d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707812912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707812904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707812920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707812937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707812947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707812928113.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 brown truck to the back right of the ego vehicle, a red truck to the back of the ego vehicle, a white truck to the front of the ego vehicle, and a yellow car to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,126.7,495.8>, <c2,CAM_BACK,999.2,500.8>, <c3,CAM_FRONT,752.5,491.7>, and <c4,CAM_BACK_LEFT,1270.0,630.8>."
            }
        ]
    },
    {
        "id": "81227a12571240e0b9d537165f57e177_1761196e896746d3a9009d0884772a6d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707812912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707812904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707812920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707812937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707812947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707812928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,999.2,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "81227a12571240e0b9d537165f57e177_1761196e896746d3a9009d0884772a6d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707812912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707812904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707812920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707812937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707812947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707812928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,126.7,495.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "81227a12571240e0b9d537165f57e177_1761196e896746d3a9009d0884772a6d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707812912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707812904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707812920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707812937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707812947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707812928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,126.7,495.8>? 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 in probability."
            }
        ]
    },
    {
        "id": "81227a12571240e0b9d537165f57e177_1761196e896746d3a9009d0884772a6d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707812912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707812904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707812920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707812937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707812947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707812928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,126.7,495.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "81227a12571240e0b9d537165f57e177_1761196e896746d3a9009d0884772a6d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707812912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707812904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707812920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707812937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707812947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707812928113.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": "81227a12571240e0b9d537165f57e177_1761196e896746d3a9009d0884772a6d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707812912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707812904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707812920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707812937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707812947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707812928113.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": "81227a12571240e0b9d537165f57e177_5877416f469c4935904a6109a6e43e67_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707821362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707821354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707821370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707821387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707821397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707821378113.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 crossing the road to the front of the ego vehicle, a pedestrian to the front right of the ego vehicle, a black sedan to the back left of the ego vehicle, a white truck to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1028.3,482.5>, <c2,CAM_FRONT_RIGHT,976.7,560.8>, <c3,CAM_BACK_LEFT,1045.8,572.5>, <c4,CAM_FRONT,610.8,484.2>, <c5,CAM_FRONT,772.5,494.2>, and <c6,CAM_BACK,921.7,486.7>."
            }
        ]
    },
    {
        "id": "81227a12571240e0b9d537165f57e177_5877416f469c4935904a6109a6e43e67_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707821362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707821354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707821370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707821387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707821397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707821378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,976.7,560.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "81227a12571240e0b9d537165f57e177_5877416f469c4935904a6109a6e43e67_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707821362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707821354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707821370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707821387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707821397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707821378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1028.3,482.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "81227a12571240e0b9d537165f57e177_5877416f469c4935904a6109a6e43e67_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707821362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707821354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707821370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707821387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707821397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707821378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1028.3,482.5>? 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": "81227a12571240e0b9d537165f57e177_5877416f469c4935904a6109a6e43e67_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707821362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707821354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707821370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707821387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707821397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707821378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1028.3,482.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "81227a12571240e0b9d537165f57e177_5877416f469c4935904a6109a6e43e67_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707821362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707821354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707821370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707821387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707821397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707821378113.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": "81227a12571240e0b9d537165f57e177_5877416f469c4935904a6109a6e43e67_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707821362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707821354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707821370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707821387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707821397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707821378113.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": "81227a12571240e0b9d537165f57e177_084ba4c1600549fa8178d00b54a14013_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707828012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707828004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707828020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707828037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707828047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707828028119.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 bus to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, a white sedan to the back of the ego vehicle, and a gray sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,118.3,594.2>, <c2,CAM_FRONT,788.3,469.2>, <c3,CAM_BACK,864.2,502.5>, <c4,CAM_BACK,1073.3,516.7>, and <c5,CAM_FRONT_RIGHT,295.8,506.7>."
            }
        ]
    },
    {
        "id": "81227a12571240e0b9d537165f57e177_084ba4c1600549fa8178d00b54a14013_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707828012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707828004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707828020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707828037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707828047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707828028119.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,118.3,594.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "81227a12571240e0b9d537165f57e177_084ba4c1600549fa8178d00b54a14013_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707828012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707828004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707828020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707828037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707828047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707828028119.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,118.3,594.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "81227a12571240e0b9d537165f57e177_084ba4c1600549fa8178d00b54a14013_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707828012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707828004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707828020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707828037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707828047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707828028119.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,118.3,594.2>? 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": "81227a12571240e0b9d537165f57e177_084ba4c1600549fa8178d00b54a14013_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707828012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707828004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707828020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707828037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707828047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707828028119.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,118.3,594.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "81227a12571240e0b9d537165f57e177_084ba4c1600549fa8178d00b54a14013_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707828012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707828004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707828020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707828037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707828047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707828028119.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": "81227a12571240e0b9d537165f57e177_084ba4c1600549fa8178d00b54a14013_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707828012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707828004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707828020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707828037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707828047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707828028119.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": "875e9b8b63b54263ba1edeb21faadea8_7460187a16894f4fa92db7e5e6f3a26b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621992662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621992654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621992670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621992687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621992697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621992678113.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 construction vehicle to the front of the ego vehicle, a white sedan to the front of the ego vehicle, and a dark blue sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,386.7,470.0>, <c2,CAM_FRONT,586.7,507.5>, and <c3,CAM_FRONT,1371.7,525.8>."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_7460187a16894f4fa92db7e5e6f3a26b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621992662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621992654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621992670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621992687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621992697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621992678113.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 <c2,CAM_FRONT,586.7,507.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_FRONT,386.7,470.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c3,CAM_FRONT,1371.7,525.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_7460187a16894f4fa92db7e5e6f3a26b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621992662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621992654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621992670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621992687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621992697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621992678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,386.7,470.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_7460187a16894f4fa92db7e5e6f3a26b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621992662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621992654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621992670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621992687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621992697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621992678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,386.7,470.0>? 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": "875e9b8b63b54263ba1edeb21faadea8_7460187a16894f4fa92db7e5e6f3a26b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621992662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621992654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621992670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621992687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621992697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621992678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,386.7,470.0>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_7460187a16894f4fa92db7e5e6f3a26b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621992662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621992654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621992670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621992687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621992697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621992678113.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, back up, or turn left."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_7460187a16894f4fa92db7e5e6f3a26b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621992662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621992654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621992670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621992687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621992697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621992678113.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": "875e9b8b63b54263ba1edeb21faadea8_8a5a909b7b7e41eaaa97c1a068dd2b56_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621988662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621988654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621988670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621988687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621988697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621988678114.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 truck to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1414.1,434.9>, <c2,CAM_FRONT,689.2,479.2>, and <c3,CAM_FRONT,417.5,497.5>."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_8a5a909b7b7e41eaaa97c1a068dd2b56_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621988662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621988654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621988670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621988687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621988697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621988678114.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 <c1,CAM_FRONT,1414.1,434.9>. The object is stationary, so the ego vehicle should continue moving forward at the same speed. Secondly, notice that <c3,CAM_FRONT,417.5,497.5>. The object is also stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT,689.2,479.2>. The object is stationary, so the ego vehicle should continue moving forward at the same speed."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_8a5a909b7b7e41eaaa97c1a068dd2b56_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621988662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621988654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621988670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621988687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621988697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621988678114.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1414.1,434.9> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_8a5a909b7b7e41eaaa97c1a068dd2b56_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621988662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621988654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621988670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621988687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621988697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621988678114.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1414.1,434.9>? 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": "875e9b8b63b54263ba1edeb21faadea8_8a5a909b7b7e41eaaa97c1a068dd2b56_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621988662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621988654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621988670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621988687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621988697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621988678114.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,689.2,479.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_8a5a909b7b7e41eaaa97c1a068dd2b56_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621988662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621988654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621988670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621988687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621988697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621988678114.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 right, brake suddenly, brake gently to a stop, decelerate gradually without braking, slightly offset to the left, slightly offset to the right, change to the left lane, or back up."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_8a5a909b7b7e41eaaa97c1a068dd2b56_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621988662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621988654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621988670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621988687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621988697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621988678114.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": "875e9b8b63b54263ba1edeb21faadea8_f7e99243441941f293f03d27d200beb4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621979612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621979604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621979620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621979637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621979647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621979628113.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 alien-shaped vehicle to the front of the ego vehicle, a silver van to the back of the ego vehicle, and a green alien car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,806.7,461.7>, <c2,CAM_BACK,1010.0,472.5>, and <c3,CAM_FRONT_RIGHT,232.5,369.2>."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_f7e99243441941f293f03d27d200beb4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621979612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621979604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621979620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621979637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621979647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621979628113.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 <c3,CAM_FRONT_RIGHT,232.5,369.2>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_FRONT,806.7,461.7>. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_BACK,1010.0,472.5>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_f7e99243441941f293f03d27d200beb4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621979612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621979604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621979620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621979637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621979647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621979628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,806.7,461.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_f7e99243441941f293f03d27d200beb4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621979612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621979604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621979620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621979637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621979647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621979628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,806.7,461.7>? 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": "875e9b8b63b54263ba1edeb21faadea8_f7e99243441941f293f03d27d200beb4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621979612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621979604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621979620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621979637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621979647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621979628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,806.7,461.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,806.7,461.7>."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_f7e99243441941f293f03d27d200beb4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621979612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621979604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621979620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621979637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621979647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621979628113.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": "875e9b8b63b54263ba1edeb21faadea8_f7e99243441941f293f03d27d200beb4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621979612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621979604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621979620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621979637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621979647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621979628113.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 very fast."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_33332bd97d53495cbdd5cb5f56fb9081_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621991162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621991154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621991170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621991187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621991197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621991178113.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 gray sedan to the front of the ego vehicle, and a white pickup truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,859.9,466.8>, <c2,CAM_FRONT,1338.3,499.2>, and <c3,CAM_FRONT,189.2,497.5>."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_33332bd97d53495cbdd5cb5f56fb9081_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621991162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621991154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621991170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621991187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621991197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621991178113.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 <c3,CAM_FRONT,189.2,497.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,859.9,466.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT,1338.3,499.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_33332bd97d53495cbdd5cb5f56fb9081_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621991162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621991154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621991170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621991187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621991197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621991178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,859.9,466.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_33332bd97d53495cbdd5cb5f56fb9081_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621991162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621991154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621991170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621991187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621991197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621991178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,859.9,466.8>? 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": "875e9b8b63b54263ba1edeb21faadea8_33332bd97d53495cbdd5cb5f56fb9081_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621991162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621991154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621991170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621991187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621991197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621991178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,859.9,466.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_33332bd97d53495cbdd5cb5f56fb9081_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621991162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621991154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621991170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621991187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621991197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621991178113.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, slightly offset to the right, slightly offset to the left, or back up."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_33332bd97d53495cbdd5cb5f56fb9081_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621991162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621991154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621991170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621991187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621991197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621991178113.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 fast."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_65a91d2b0c92419e9eb905a404dfb36e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621987162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621987154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621987170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621987187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621987197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621987178113.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 truck to the back of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1225.8,445.0>, <c2,CAM_BACK,201.0,426.7>, and <c3,CAM_FRONT,361.7,495.8>."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_65a91d2b0c92419e9eb905a404dfb36e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621987162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621987154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621987170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621987187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621987197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621987178113.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 <c2,CAM_BACK,201.0,426.7>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_FRONT,1225.8,445.0>. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c3,CAM_FRONT,361.7,495.8>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_65a91d2b0c92419e9eb905a404dfb36e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621987162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621987154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621987170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621987187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621987197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621987178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1225.8,445.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_65a91d2b0c92419e9eb905a404dfb36e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621987162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621987154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621987170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621987187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621987197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621987178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1225.8,445.0>? 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": "875e9b8b63b54263ba1edeb21faadea8_65a91d2b0c92419e9eb905a404dfb36e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621987162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621987154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621987170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621987187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621987197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621987178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,201.0,426.7>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_65a91d2b0c92419e9eb905a404dfb36e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621987162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621987154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621987170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621987187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621987197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621987178113.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 suddenly, brake gently to a stop, decelerate gradually without braking, slightly offset to the left, slightly offset to the right, change to the left lane, change to the right lane, or turn right."
            }
        ]
    },
    {
        "id": "875e9b8b63b54263ba1edeb21faadea8_65a91d2b0c92419e9eb905a404dfb36e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621987162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621987154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621987170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621987187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621987197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621987178113.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 very fast."
            }
        ]
    },
    {
        "id": "7e3a6bdd6c6f4c8fb018cff404974446_bf0f869608744492b861152fe1a00da4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885999512461.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885999504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885999520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885999537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885999547715.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885999527893.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 back left of the ego vehicle, a silver sedan to the back of the ego vehicle, and a two pedestrians to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,639.2,403.3>, <c2,CAM_BACK,809.3,553.3>, and <c3,CAM_FRONT,1365.8,567.5>."
            }
        ]
    },
    {
        "id": "7e3a6bdd6c6f4c8fb018cff404974446_bf0f869608744492b861152fe1a00da4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885999512461.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885999504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885999520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885999537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885999547715.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885999527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,809.3,553.3>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "7e3a6bdd6c6f4c8fb018cff404974446_bf0f869608744492b861152fe1a00da4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885999512461.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885999504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885999520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885999537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885999547715.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885999527893.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 <c3,CAM_FRONT,1365.8,567.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_BACK,809.3,553.3>. The object is turning right, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK_LEFT,639.2,403.3>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "7e3a6bdd6c6f4c8fb018cff404974446_bf0f869608744492b861152fe1a00da4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885999512461.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885999504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885999520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885999537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885999547715.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885999527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,639.2,403.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7e3a6bdd6c6f4c8fb018cff404974446_bf0f869608744492b861152fe1a00da4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885999512461.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885999504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885999520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885999537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885999547715.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885999527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,639.2,403.3>? 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": "7e3a6bdd6c6f4c8fb018cff404974446_bf0f869608744492b861152fe1a00da4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885999512461.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885999504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885999520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885999537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885999547715.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885999527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,639.2,403.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "7e3a6bdd6c6f4c8fb018cff404974446_bf0f869608744492b861152fe1a00da4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885999512461.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885999504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885999520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885999537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885999547715.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885999527893.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, change to the left lane, slightly offset to the left."
            }
        ]
    },
    {
        "id": "7e3a6bdd6c6f4c8fb018cff404974446_bf0f869608744492b861152fe1a00da4_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885999512461.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885999504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885999520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885999537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885999547715.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885999527893.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": "82aef599650d462db73731b7ff40918b_713e6b367a92472b8ac8b6ed90062347_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886210854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886210877893.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 back of the ego vehicle, a black small car to the front of the ego vehicle, and a red small car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,718.3,523.3>, <c2,CAM_FRONT,947.5,491.7>, and <c3,CAM_BACK,829.8,581.7>."
            }
        ]
    },
    {
        "id": "82aef599650d462db73731b7ff40918b_713e6b367a92472b8ac8b6ed90062347_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886210854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886210877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,718.3,523.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "82aef599650d462db73731b7ff40918b_713e6b367a92472b8ac8b6ed90062347_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886210854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886210877893.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 <c2,CAM_FRONT,947.5,491.7>. The object is going ahead, so the ego vehicle should slow down and go ahead. Secondly, notice that <c3,CAM_BACK,829.8,581.7>. The object is going ahead, so the ego vehicle should slow down and go ahead. Thirdly, notice that <c1,CAM_BACK,718.3,523.3>. The object is going ahead, so the ego vehicle should slow down and go ahead."
            }
        ]
    },
    {
        "id": "82aef599650d462db73731b7ff40918b_713e6b367a92472b8ac8b6ed90062347_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886210854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886210877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,718.3,523.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "82aef599650d462db73731b7ff40918b_713e6b367a92472b8ac8b6ed90062347_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886210854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886210877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,718.3,523.3>? 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."
            }
        ]
    },
    {
        "id": "82aef599650d462db73731b7ff40918b_713e6b367a92472b8ac8b6ed90062347_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886210854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886210877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,718.3,523.3>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "82aef599650d462db73731b7ff40918b_713e6b367a92472b8ac8b6ed90062347_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886210854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886210877893.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."
            }
        ]
    },
    {
        "id": "82aef599650d462db73731b7ff40918b_713e6b367a92472b8ac8b6ed90062347_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886210854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886210877893.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": "82aef599650d462db73731b7ff40918b_d7f960507ad941dc9f2c10e5b3936d8d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886202412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886202404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886202420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886202437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886202447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886202427893.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 of the ego vehicle, a blue sedan to the back of the ego vehicle, a white sedan to the back of the ego vehicle, a white motorcycle to the front of the ego vehicle, and a red car to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,860.0,525.8>, <c2,CAM_BACK,794.2,525.8>, <c3,CAM_BACK,584.2,560.8>, <c4,CAM_FRONT,730.8,522.5>, and <c5,CAM_BACK_RIGHT,869.3,662.6>."
            }
        ]
    },
    {
        "id": "82aef599650d462db73731b7ff40918b_d7f960507ad941dc9f2c10e5b3936d8d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886202412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886202404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886202420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886202437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886202447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886202427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,794.2,525.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "82aef599650d462db73731b7ff40918b_d7f960507ad941dc9f2c10e5b3936d8d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886202412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886202404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886202420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886202437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886202447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886202427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,860.0,525.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "82aef599650d462db73731b7ff40918b_d7f960507ad941dc9f2c10e5b3936d8d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886202412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886202404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886202420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886202437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886202447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886202427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,860.0,525.8>? 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": "82aef599650d462db73731b7ff40918b_d7f960507ad941dc9f2c10e5b3936d8d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886202412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886202404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886202420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886202437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886202447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886202427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,860.0,525.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "82aef599650d462db73731b7ff40918b_d7f960507ad941dc9f2c10e5b3936d8d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886202412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886202404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886202420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886202437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886202447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886202427893.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": "82aef599650d462db73731b7ff40918b_d7f960507ad941dc9f2c10e5b3936d8d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886202412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886202404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886202420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886202437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886202447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886202427893.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": "773e6b4f990f4044bed5ea7036ea7c3b_98ce5b632d864487ac4e855b0c9305fa_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985590262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985590254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985590270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985590287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985590297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985590277893.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 person riding a motorcycle to the front of the ego vehicle, a blue sedan to the back of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,731.7,573.3>, <c2,CAM_FRONT,1291.7,475.8>, <c3,CAM_BACK,1045.8,584.2>, and <c4,CAM_FRONT,608.3,524.2>."
            }
        ]
    },
    {
        "id": "773e6b4f990f4044bed5ea7036ea7c3b_98ce5b632d864487ac4e855b0c9305fa_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985590262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985590254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985590270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985590287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985590297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985590277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,731.7,573.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "773e6b4f990f4044bed5ea7036ea7c3b_98ce5b632d864487ac4e855b0c9305fa_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985590262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985590254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985590270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985590287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985590297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985590277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,731.7,573.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "773e6b4f990f4044bed5ea7036ea7c3b_98ce5b632d864487ac4e855b0c9305fa_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985590262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985590254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985590270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985590287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985590297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985590277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,731.7,573.3>? 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": "773e6b4f990f4044bed5ea7036ea7c3b_98ce5b632d864487ac4e855b0c9305fa_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985590262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985590254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985590270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985590287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985590297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985590277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,731.7,573.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "773e6b4f990f4044bed5ea7036ea7c3b_98ce5b632d864487ac4e855b0c9305fa_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985590262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985590254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985590270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985590287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985590297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985590277893.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 turn left."
            }
        ]
    },
    {
        "id": "773e6b4f990f4044bed5ea7036ea7c3b_98ce5b632d864487ac4e855b0c9305fa_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985590262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985590254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985590270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985590287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985590297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985590277893.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": "773e6b4f990f4044bed5ea7036ea7c3b_d8c53c2e18434124a46dfe8037cb0488_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985607762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985607754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985607770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985607787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985607797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985607777893.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 car to the front of the ego vehicle, a red and white bus to the front right of the ego vehicle, a black sedan to the back of the ego vehicle, a black SUV to the back left of the ego vehicle, a blue SUV to the front left of the ego vehicle, and a red light to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,632.5,622.5>, <c2,CAM_FRONT_RIGHT,201.7,510.0>, <c3,CAM_BACK,1059.2,616.7>, <c4,CAM_BACK_LEFT,762.5,651.7>, <c5,CAM_FRONT_LEFT,1460.8,583.3>, and <c6,CAM_FRONT_LEFT,1357.1,321.8>."
            }
        ]
    },
    {
        "id": "773e6b4f990f4044bed5ea7036ea7c3b_d8c53c2e18434124a46dfe8037cb0488_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985607762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985607754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985607770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985607787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985607797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985607777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,201.7,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "773e6b4f990f4044bed5ea7036ea7c3b_d8c53c2e18434124a46dfe8037cb0488_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985607762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985607754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985607770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985607787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985607797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985607777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,632.5,622.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "773e6b4f990f4044bed5ea7036ea7c3b_d8c53c2e18434124a46dfe8037cb0488_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985607762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985607754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985607770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985607787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985607797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985607777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,632.5,622.5>? 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": "773e6b4f990f4044bed5ea7036ea7c3b_d8c53c2e18434124a46dfe8037cb0488_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985607762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985607754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985607770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985607787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985607797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985607777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,632.5,622.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "773e6b4f990f4044bed5ea7036ea7c3b_d8c53c2e18434124a46dfe8037cb0488_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985607762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985607754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985607770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985607787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985607797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985607777893.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": "773e6b4f990f4044bed5ea7036ea7c3b_d8c53c2e18434124a46dfe8037cb0488_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985607762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985607754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985607770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985607787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985607797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985607777893.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": "2422d2652f4f42298a389a6e0dfef307_d0c6d9ac1f5649d596d81177b36752a7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845377612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845377604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845377620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845377637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845377647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845377627893.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 truck to the front of the ego vehicle, a silver gray sedan to the back of the ego vehicle, a white truck to the back of the ego vehicle, a silver-gray sedan to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1036.7,520.8>, <c2,CAM_BACK,814.2,542.5>, <c3,CAM_BACK,321.7,519.2>, <c4,CAM_FRONT,881.7,586.7>, and <c5,CAM_FRONT,687.1,410.2>."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_d0c6d9ac1f5649d596d81177b36752a7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845377612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845377604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845377620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845377637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845377647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845377627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,814.2,542.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_d0c6d9ac1f5649d596d81177b36752a7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845377612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845377604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845377620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845377637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845377647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845377627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1036.7,520.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_d0c6d9ac1f5649d596d81177b36752a7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845377612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845377604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845377620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845377637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845377647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845377627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1036.7,520.8>? 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. The probability of this action is high."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_d0c6d9ac1f5649d596d81177b36752a7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845377612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845377604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845377620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845377637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845377647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845377627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1036.7,520.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_d0c6d9ac1f5649d596d81177b36752a7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845377612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845377604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845377620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845377637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845377647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845377627893.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": "Change to the left lane, slightly offset to the left, is the safe action to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_d0c6d9ac1f5649d596d81177b36752a7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845377612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845377604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845377620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845377637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845377647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845377627893.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": "2422d2652f4f42298a389a6e0dfef307_7e675d1e19b84ccda4393c593a8594ee_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845374112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845374104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845374120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845374137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845374147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845374127893.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 black sedan car to the back of the ego vehicle, a white truck 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 <c1,CAM_FRONT,1053.3,513.3>, <c2,CAM_BACK,870.8,520.8>, <c3,CAM_FRONT_RIGHT,1010.8,452.5>, and <c4,CAM_FRONT,914.2,530.8>."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_7e675d1e19b84ccda4393c593a8594ee_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845374112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845374104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845374120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845374137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845374147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845374127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1053.3,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_7e675d1e19b84ccda4393c593a8594ee_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845374112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845374104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845374120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845374137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845374147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845374127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1053.3,513.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_7e675d1e19b84ccda4393c593a8594ee_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845374112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845374104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845374120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845374137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845374147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845374127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1053.3,513.3>? 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": "2422d2652f4f42298a389a6e0dfef307_7e675d1e19b84ccda4393c593a8594ee_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845374112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845374104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845374120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845374137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845374147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845374127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1053.3,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_7e675d1e19b84ccda4393c593a8594ee_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845374112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845374104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845374120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845374137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845374147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845374127893.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": "2422d2652f4f42298a389a6e0dfef307_7e675d1e19b84ccda4393c593a8594ee_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845374112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845374104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845374120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845374137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845374147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845374127893.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": "2422d2652f4f42298a389a6e0dfef307_f765c2cac300448abca6cf1496140331_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845385262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845385254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845385270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845385287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845385297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845385277893.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 gray sedan to the back of the ego vehicle, an orange exotic car to the front right of the ego vehicle, and a gray sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1036.7,528.3>, <c2,CAM_BACK,740.0,668.3>, <c3,CAM_FRONT_RIGHT,471.7,453.3>, and <c4,CAM_FRONT,831.7,639.2>."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_f765c2cac300448abca6cf1496140331_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845385262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845385254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845385270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845385287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845385297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845385277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1036.7,528.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_f765c2cac300448abca6cf1496140331_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845385262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845385254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845385270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845385287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845385297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845385277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1036.7,528.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary, the reason is to follow the traffic rules, high probability."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_f765c2cac300448abca6cf1496140331_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845385262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845385254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845385270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845385287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845385297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845385277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1036.7,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Change to the right lane."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_f765c2cac300448abca6cf1496140331_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845385262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845385254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845385270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845385287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845385297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845385277893.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."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_f765c2cac300448abca6cf1496140331_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845385262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845385254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845385270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845385287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845385297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845385277893.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": "2422d2652f4f42298a389a6e0dfef307_bac9648d9bfb4258beafbd52eda61344_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845373162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845373154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845373170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845373187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845373197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845373177893.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 silver sedan to the back of the ego vehicle, a white truck to the front right of the ego vehicle, and a gray sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1037.5,507.5>, <c2,CAM_BACK,874.2,519.2>, <c3,CAM_FRONT_RIGHT,548.3,453.3>, and <c4,CAM_FRONT,896.7,520.8>."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_bac9648d9bfb4258beafbd52eda61344_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845373162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845373154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845373170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845373187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845373197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845373177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,874.2,519.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_bac9648d9bfb4258beafbd52eda61344_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845373162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845373154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845373170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845373187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845373197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845373177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1037.5,507.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_bac9648d9bfb4258beafbd52eda61344_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845373162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845373154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845373170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845373187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845373197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845373177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1037.5,507.5>? 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": "2422d2652f4f42298a389a6e0dfef307_bac9648d9bfb4258beafbd52eda61344_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845373162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845373154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845373170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845373187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845373197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845373177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1037.5,507.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "2422d2652f4f42298a389a6e0dfef307_bac9648d9bfb4258beafbd52eda61344_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845373162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845373154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845373170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845373187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845373197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845373177893.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": "2422d2652f4f42298a389a6e0dfef307_bac9648d9bfb4258beafbd52eda61344_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845373162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845373154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845373170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845373187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845373197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845373177893.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": "599c50b42e294116bd702c9e5cc830a3_86abc0810cd349148b3a1b35a5b109e4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193246112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193246104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193246120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193246137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193246147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193246127893.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 black sedan to the back of the ego vehicle, a roundabout ahead to the front of the ego vehicle, a roundabout ahead to the front of the ego vehicle, and a watch out for pedestrians to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1311.6,471.9>, <c2,CAM_BACK,557.5,497.5>, <c3,CAM_FRONT,721.3,332.7>, <c4,CAM_FRONT,525.7,374.6>, and <c5,CAM_FRONT_LEFT,1154.7,338.8>."
            }
        ]
    },
    {
        "id": "599c50b42e294116bd702c9e5cc830a3_86abc0810cd349148b3a1b35a5b109e4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193246112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193246104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193246120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193246137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193246147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193246127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1311.6,471.9>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "599c50b42e294116bd702c9e5cc830a3_86abc0810cd349148b3a1b35a5b109e4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193246112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193246104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193246120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193246137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193246147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193246127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1311.6,471.9> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "599c50b42e294116bd702c9e5cc830a3_86abc0810cd349148b3a1b35a5b109e4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193246112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193246104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193246120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193246137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193246147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193246127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1311.6,471.9>? 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": "599c50b42e294116bd702c9e5cc830a3_86abc0810cd349148b3a1b35a5b109e4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193246112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193246104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193246120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193246137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193246147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193246127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1311.6,471.9>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "599c50b42e294116bd702c9e5cc830a3_86abc0810cd349148b3a1b35a5b109e4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193246112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193246104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193246120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193246137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193246147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193246127893.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."
            }
        ]
    },
    {
        "id": "599c50b42e294116bd702c9e5cc830a3_86abc0810cd349148b3a1b35a5b109e4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193246112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193246104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193246120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193246137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193246147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193246127893.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": "599c50b42e294116bd702c9e5cc830a3_9b57b4bfd0c64f7bbe8933dc3d4721c1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193260362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193260354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193260370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193260387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193260397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193260377893.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 right of the ego vehicle, a pedestrian wearing a green shirt to the front left of the ego vehicle, and a red bus to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,956.7,684.2>, <c2,CAM_FRONT_LEFT,646.7,567.5>, and <c3,CAM_FRONT_RIGHT,1002.5,462.5>."
            }
        ]
    },
    {
        "id": "599c50b42e294116bd702c9e5cc830a3_9b57b4bfd0c64f7bbe8933dc3d4721c1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193260362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193260354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193260370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193260387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193260397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193260377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,956.7,684.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "599c50b42e294116bd702c9e5cc830a3_9b57b4bfd0c64f7bbe8933dc3d4721c1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193260362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193260354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193260370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193260387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193260397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193260377893.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 <c2,CAM_FRONT_LEFT,646.7,567.5>; it is going ahead, so the ego vehicle should turn right. Secondly, notice that <c3,CAM_FRONT_RIGHT,1002.5,462.5>; it is going ahead, so the ego vehicle should turn left. Thirdly, notice that <c1,CAM_BACK_RIGHT,956.7,684.2>; it is going ahead, so the ego vehicle should turn left."
            }
        ]
    },
    {
        "id": "599c50b42e294116bd702c9e5cc830a3_9b57b4bfd0c64f7bbe8933dc3d4721c1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193260362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193260354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193260370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193260387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193260397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193260377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,956.7,684.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "599c50b42e294116bd702c9e5cc830a3_9b57b4bfd0c64f7bbe8933dc3d4721c1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193260362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193260354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193260370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193260387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193260397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193260377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,956.7,684.2>? 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": "599c50b42e294116bd702c9e5cc830a3_9b57b4bfd0c64f7bbe8933dc3d4721c1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193260362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193260354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193260370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193260387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193260397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193260377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,956.7,684.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "599c50b42e294116bd702c9e5cc830a3_9b57b4bfd0c64f7bbe8933dc3d4721c1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193260362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193260354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193260370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193260387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193260397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193260377893.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, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "599c50b42e294116bd702c9e5cc830a3_9b57b4bfd0c64f7bbe8933dc3d4721c1_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193260362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193260354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193260370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193260387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193260397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193260377893.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": "d033fb0d79ea42b9a356fa5162172598_ea3369e6573045cd908ef63e09871795_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297244362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297244354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297244370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297244387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297244397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297244378113.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 motorhome to the front of the ego vehicle, a yellow bus to the front right of the ego vehicle, a black car to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a silver sedan to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,923.3,572.5>, <c2,CAM_FRONT,1034.2,474.2>, <c3,CAM_FRONT_RIGHT,956.1,445.6>, <c4,CAM_FRONT,1275.0,525.8>, <c5,CAM_FRONT,800.0,495.0>, and <c6,CAM_BACK_LEFT,873.3,530.0>."
            }
        ]
    },
    {
        "id": "d033fb0d79ea42b9a356fa5162172598_ea3369e6573045cd908ef63e09871795_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297244362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297244354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297244370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297244387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297244397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297244378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,923.3,572.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d033fb0d79ea42b9a356fa5162172598_ea3369e6573045cd908ef63e09871795_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297244362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297244354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297244370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297244387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297244397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297244378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,923.3,572.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d033fb0d79ea42b9a356fa5162172598_ea3369e6573045cd908ef63e09871795_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297244362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297244354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297244370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297244387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297244397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297244378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,923.3,572.5>? 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": "d033fb0d79ea42b9a356fa5162172598_ea3369e6573045cd908ef63e09871795_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297244362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297244354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297244370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297244387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297244397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297244378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,923.3,572.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "d033fb0d79ea42b9a356fa5162172598_ea3369e6573045cd908ef63e09871795_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297244362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297244354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297244370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297244387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297244397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297244378113.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": "Accelerate and go ahead, slightly offset to the left, and slightly offset to the right."
            }
        ]
    },
    {
        "id": "d033fb0d79ea42b9a356fa5162172598_ea3369e6573045cd908ef63e09871795_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297244362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297244354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297244370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297244387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297244397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297244378113.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": "d033fb0d79ea42b9a356fa5162172598_27aa95ee3d714029baa023f4a8791085_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297251162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297251154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297251170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297251187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297251197409.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297251178113.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 back of the ego vehicle, a white sedan to the front of the ego vehicle, a yellow bus 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 <c1,CAM_BACK,405.0,522.5>, <c2,CAM_FRONT,907.5,516.7>, <c3,CAM_BACK,831.7,482.5>, and <c4,CAM_BACK_RIGHT,893.3,530.8>."
            }
        ]
    },
    {
        "id": "d033fb0d79ea42b9a356fa5162172598_27aa95ee3d714029baa023f4a8791085_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297251162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297251154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297251170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297251187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297251197409.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297251178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,405.0,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d033fb0d79ea42b9a356fa5162172598_27aa95ee3d714029baa023f4a8791085_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297251162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297251154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297251170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297251187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297251197409.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297251178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,405.0,522.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d033fb0d79ea42b9a356fa5162172598_27aa95ee3d714029baa023f4a8791085_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297251162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297251154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297251170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297251187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297251197409.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297251178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,405.0,522.5>? 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": "d033fb0d79ea42b9a356fa5162172598_27aa95ee3d714029baa023f4a8791085_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297251162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297251154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297251170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297251187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297251197409.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297251178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,405.0,522.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "d033fb0d79ea42b9a356fa5162172598_27aa95ee3d714029baa023f4a8791085_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297251162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297251154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297251170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297251187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297251197409.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297251178113.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."
            }
        ]
    },
    {
        "id": "d033fb0d79ea42b9a356fa5162172598_27aa95ee3d714029baa023f4a8791085_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297251162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297251154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297251170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297251187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297251197409.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297251178113.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": "eac3102e4cc24d4b95532bcc711a902f_cd02458f6b5e4da88265f2a07c3fd3b3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402012112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402012104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402012120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402012137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402012147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402012127893.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 small car to the front of the ego vehicle, a brown small car to the back of the ego vehicle, and a black small car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,805.8,509.2>, <c2,CAM_BACK,800.0,513.3>, and <c3,CAM_BACK,704.2,518.3>."
            }
        ]
    },
    {
        "id": "eac3102e4cc24d4b95532bcc711a902f_cd02458f6b5e4da88265f2a07c3fd3b3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402012112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402012104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402012120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402012137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402012147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402012127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,805.8,509.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "eac3102e4cc24d4b95532bcc711a902f_cd02458f6b5e4da88265f2a07c3fd3b3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402012112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402012104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402012120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402012137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402012147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402012127893.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 <c1,CAM_FRONT,805.8,509.2>. The object is going ahead, so the ego vehicle should slow down and go ahead. Secondly, notice <c3,CAM_BACK,704.2,518.3>. The object is going ahead, so the ego vehicle should slow down and go ahead. Thirdly, notice <c2,CAM_BACK,800.0,513.3>. The object is going ahead, so the ego vehicle should accelerate and go ahead."
            }
        ]
    },
    {
        "id": "eac3102e4cc24d4b95532bcc711a902f_cd02458f6b5e4da88265f2a07c3fd3b3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402012112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402012104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402012120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402012137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402012147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402012127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,805.8,509.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "eac3102e4cc24d4b95532bcc711a902f_cd02458f6b5e4da88265f2a07c3fd3b3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402012112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402012104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402012120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402012137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402012147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402012127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,805.8,509.2>? 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": "eac3102e4cc24d4b95532bcc711a902f_cd02458f6b5e4da88265f2a07c3fd3b3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402012112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402012104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402012120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402012137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402012147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402012127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,805.8,509.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "eac3102e4cc24d4b95532bcc711a902f_cd02458f6b5e4da88265f2a07c3fd3b3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402012112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402012104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402012120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402012137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402012147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402012127893.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": "eac3102e4cc24d4b95532bcc711a902f_cd02458f6b5e4da88265f2a07c3fd3b3_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402012112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402012104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402012120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402012137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402012147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402012127893.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": "eac3102e4cc24d4b95532bcc711a902f_a278b141b8c64962954fb6240c1a1617_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402014762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402014754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402014770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402014787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402014797424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402014777893.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 to the front of the ego vehicle, a green to the front of the ego vehicle, a purple to the back of the ego vehicle, and a pink to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1073.3,487.5>, <c2,CAM_FRONT,805.0,506.7>, <c3,CAM_BACK,801.7,529.2>, and <c4,CAM_BACK,620.8,576.7>."
            }
        ]
    },
    {
        "id": "eac3102e4cc24d4b95532bcc711a902f_a278b141b8c64962954fb6240c1a1617_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402014762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402014754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402014770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402014787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402014797424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402014777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1073.3,487.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "eac3102e4cc24d4b95532bcc711a902f_a278b141b8c64962954fb6240c1a1617_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402014762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402014754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402014770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402014787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402014797424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402014777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1073.3,487.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "eac3102e4cc24d4b95532bcc711a902f_a278b141b8c64962954fb6240c1a1617_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402014762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402014754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402014770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402014787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402014797424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402014777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1073.3,487.5>? 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": "eac3102e4cc24d4b95532bcc711a902f_a278b141b8c64962954fb6240c1a1617_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402014762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402014754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402014770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402014787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402014797424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402014777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1073.3,487.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "eac3102e4cc24d4b95532bcc711a902f_a278b141b8c64962954fb6240c1a1617_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402014762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402014754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402014770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402014787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402014797424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402014777893.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 come to a stop."
            }
        ]
    },
    {
        "id": "eac3102e4cc24d4b95532bcc711a902f_a278b141b8c64962954fb6240c1a1617_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402014762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402014754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402014770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402014787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402014797424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402014777893.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": "19dce2ebc7bd4f138aea6d645a4afec7_06aab8a1f8634caa83cd73e30f7e0067_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478702162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478702154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478702170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478702187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478702197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478702178113.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 small car to the back of the ego vehicle, a black small car to the back of the ego vehicle, a pedestrian talking on the phone to the front right of the ego vehicle, a black small car to the back right of the ego vehicle, a black SUV to the front of the ego vehicle, and a traffic sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,877.5,503.3>, <c2,CAM_BACK,743.3,507.5>, <c3,CAM_FRONT_RIGHT,1025.8,540.8>, <c4,CAM_BACK_RIGHT,783.9,674.2>, <c5,CAM_FRONT,856.7,493.3>, and <c6,CAM_FRONT,1053.6,53.0>."
            }
        ]
    },
    {
        "id": "19dce2ebc7bd4f138aea6d645a4afec7_06aab8a1f8634caa83cd73e30f7e0067_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478702162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478702154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478702170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478702187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478702197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478702178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,877.5,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "19dce2ebc7bd4f138aea6d645a4afec7_06aab8a1f8634caa83cd73e30f7e0067_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478702162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478702154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478702170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478702187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478702197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478702178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,877.5,503.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "19dce2ebc7bd4f138aea6d645a4afec7_06aab8a1f8634caa83cd73e30f7e0067_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478702162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478702154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478702170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478702187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478702197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478702178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,877.5,503.3>? 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": "19dce2ebc7bd4f138aea6d645a4afec7_06aab8a1f8634caa83cd73e30f7e0067_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478702162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478702154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478702170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478702187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478702197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478702178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,877.5,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "19dce2ebc7bd4f138aea6d645a4afec7_06aab8a1f8634caa83cd73e30f7e0067_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478702162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478702154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478702170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478702187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478702197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478702178113.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": "19dce2ebc7bd4f138aea6d645a4afec7_06aab8a1f8634caa83cd73e30f7e0067_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478702162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478702154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478702170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478702187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478702197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478702178113.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": "19dce2ebc7bd4f138aea6d645a4afec7_e1bde0b2182e41c1882d720fde2a0b03_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478704162409.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478704154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478704170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478704187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478704197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478704178113.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 sedan to the back of the ego vehicle, a gray sedan to the front of the ego vehicle, a bicycles can pass through landmarks to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,862.5,499.2>, <c2,CAM_BACK,704.8,509.7>, <c3,CAM_FRONT,887.5,504.0>, <c4,CAM_FRONT,1264.5,627.8>, and <c5,CAM_FRONT,898.6,411.6>."
            }
        ]
    },
    {
        "id": "19dce2ebc7bd4f138aea6d645a4afec7_e1bde0b2182e41c1882d720fde2a0b03_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478704162409.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478704154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478704170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478704187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478704197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478704178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,862.5,499.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "19dce2ebc7bd4f138aea6d645a4afec7_e1bde0b2182e41c1882d720fde2a0b03_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478704162409.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478704154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478704170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478704187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478704197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478704178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,862.5,499.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "19dce2ebc7bd4f138aea6d645a4afec7_e1bde0b2182e41c1882d720fde2a0b03_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478704162409.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478704154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478704170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478704187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478704197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478704178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,862.5,499.2>? 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 to avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "19dce2ebc7bd4f138aea6d645a4afec7_e1bde0b2182e41c1882d720fde2a0b03_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478704162409.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478704154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478704170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478704187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478704197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478704178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,862.5,499.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "19dce2ebc7bd4f138aea6d645a4afec7_e1bde0b2182e41c1882d720fde2a0b03_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478704162409.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478704154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478704170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478704187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478704197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478704178113.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 keep going at the same speed."
            }
        ]
    },
    {
        "id": "19dce2ebc7bd4f138aea6d645a4afec7_e1bde0b2182e41c1882d720fde2a0b03_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478704162409.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478704154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478704170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478704187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478704197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478704178113.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": "de943e246dad4ad686de98008a634ecf_49478b7a2bf74eb98ec3a7a86047dfa8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885872412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885872404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885872420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885872437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885872447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885872427893.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 to the front of the ego vehicle, a black sedan to the front of the ego vehicle, a pedestrian crossing the road to the front of the ego vehicle, a black sedan to the front right of the ego vehicle, pedestrians crossing the road to the back right of the ego vehicle, and a slow down and proceed to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1363.3,559.2>, <c2,CAM_FRONT,1140.8,517.5>, <c3,CAM_FRONT,1017.5,511.7>, <c4,CAM_FRONT_RIGHT,483.3,600.8>, <c5,CAM_BACK_RIGHT,1385.8,575.8>, and <c6,CAM_FRONT,866.3,650.6>."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_49478b7a2bf74eb98ec3a7a86047dfa8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885872412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885872404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885872420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885872437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885872447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885872427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1140.8,517.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_49478b7a2bf74eb98ec3a7a86047dfa8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885872412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885872404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885872420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885872437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885872447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885872427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1363.3,559.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_49478b7a2bf74eb98ec3a7a86047dfa8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885872412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885872404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885872420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885872437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885872447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885872427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1363.3,559.2>? 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": "de943e246dad4ad686de98008a634ecf_49478b7a2bf74eb98ec3a7a86047dfa8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885872412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885872404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885872420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885872437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885872447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885872427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1363.3,559.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_49478b7a2bf74eb98ec3a7a86047dfa8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885872412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885872404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885872420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885872437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885872447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885872427893.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, brake gently to a stop, or brake suddenly."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_49478b7a2bf74eb98ec3a7a86047dfa8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885872412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885872404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885872420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885872437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885872447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885872427893.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": "de943e246dad4ad686de98008a634ecf_b0691648cfba45c495b190ad8273a9bb_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885870412466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885870427893.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 preparing to cross the road to the front of the ego vehicle, a black sedan to the front of the ego vehicle, pedestrians on the roadside to the back right of the ego vehicle, a white bus to the back right of the ego vehicle, a speed bump to the front of the ego vehicle, and a road sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1074.2,506.7>, <c2,CAM_FRONT,1176.7,510.0>, <c3,CAM_BACK_RIGHT,323.3,614.2>, <c4,CAM_BACK_RIGHT,133.5,533.4>, <c5,CAM_FRONT,754.6,555.5>, and <c6,CAM_FRONT,1300.0,248.9>."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_b0691648cfba45c495b190ad8273a9bb_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885870412466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885870427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1176.7,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_b0691648cfba45c495b190ad8273a9bb_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885870412466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885870427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1074.2,506.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_b0691648cfba45c495b190ad8273a9bb_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885870412466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885870427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1074.2,506.7>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_b0691648cfba45c495b190ad8273a9bb_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885870412466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885870427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1074.2,506.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_b0691648cfba45c495b190ad8273a9bb_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885870412466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885870427893.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": "de943e246dad4ad686de98008a634ecf_b0691648cfba45c495b190ad8273a9bb_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885870412466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885870404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885870420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885870437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885870447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885870427893.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": "de943e246dad4ad686de98008a634ecf_ed9a890fd88f4f298f2a8f90babcbc02_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885880262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885880254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885880270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885880287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885880297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885880277893.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 man wearing blue clothes to the front right of the ego vehicle, a black motorcycle to the front of the ego vehicle, and a man wearing red clothes to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,144.5,589.6>, <c2,CAM_FRONT_RIGHT,850.0,552.5>, <c3,CAM_FRONT,1381.7,529.2>, and <c4,CAM_BACK_RIGHT,945.8,639.2>."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_ed9a890fd88f4f298f2a8f90babcbc02_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885880262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885880254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885880270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885880287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885880297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885880277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,850.0,552.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_ed9a890fd88f4f298f2a8f90babcbc02_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885880262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885880254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885880270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885880287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885880297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885880277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,144.5,589.6> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_ed9a890fd88f4f298f2a8f90babcbc02_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885880262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885880254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885880270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885880287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885880297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885880277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,144.5,589.6>? 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": "de943e246dad4ad686de98008a634ecf_ed9a890fd88f4f298f2a8f90babcbc02_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885880262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885880254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885880270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885880287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885880297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885880277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,144.5,589.6>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_ed9a890fd88f4f298f2a8f90babcbc02_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885880262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885880254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885880270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885880287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885880297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885880277893.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, keep going at the same speed, decelerate gradually without braking, brake gently to a stop."
            }
        ]
    },
    {
        "id": "de943e246dad4ad686de98008a634ecf_ed9a890fd88f4f298f2a8f90babcbc02_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885880262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885880254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885880270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885880287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885880297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885880277893.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 with normal speed."
            }
        ]
    },
    {
        "id": "4f28b42169f4404cbab4b43476e13885_f49817fb792f4fd3a362d84c69d6045c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112977912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112977904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112977920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112977937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112977947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112977927893.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 red car to the back left of the ego vehicle, a white truck to the front left of the ego vehicle, and a white bus to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1021.7,492.5>, <c2,CAM_BACK_LEFT,1088.3,545.0>, <c3,CAM_FRONT_LEFT,769.2,458.3>, and <c4,CAM_FRONT_LEFT,611.7,430.0>."
            }
        ]
    },
    {
        "id": "4f28b42169f4404cbab4b43476e13885_f49817fb792f4fd3a362d84c69d6045c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112977912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112977904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112977920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112977937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112977947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112977927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1021.7,492.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4f28b42169f4404cbab4b43476e13885_f49817fb792f4fd3a362d84c69d6045c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112977912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112977904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112977920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112977937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112977947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112977927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1021.7,492.5>? 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": "4f28b42169f4404cbab4b43476e13885_f49817fb792f4fd3a362d84c69d6045c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112977912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112977904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112977920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112977937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112977947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112977927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1021.7,492.5>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "4f28b42169f4404cbab4b43476e13885_f49817fb792f4fd3a362d84c69d6045c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112977912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112977904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112977920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112977937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112977947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112977927893.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 ahead."
            }
        ]
    },
    {
        "id": "4f28b42169f4404cbab4b43476e13885_f49817fb792f4fd3a362d84c69d6045c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112977912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112977904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112977920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112977937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112977947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112977927893.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": "4f28b42169f4404cbab4b43476e13885_6da82e1adba0424b8718060134b2f8ca_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112982912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112982904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112982920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112982937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112982947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112982927893.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 front of the ego vehicle, a white truck to the front of the ego vehicle, a blue and white bus to the front of the ego vehicle, a black car to the front of the ego vehicle, and a road traffic sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,621.7,492.5>, <c2,CAM_FRONT,419.2,485.8>, <c3,CAM_FRONT,290.9,436.6>, <c4,CAM_FRONT,505.6,486.7>, and <c5,CAM_FRONT_RIGHT,126.7,776.8>."
            }
        ]
    },
    {
        "id": "4f28b42169f4404cbab4b43476e13885_6da82e1adba0424b8718060134b2f8ca_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112982912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112982904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112982920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112982937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112982947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112982927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,419.2,485.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4f28b42169f4404cbab4b43476e13885_6da82e1adba0424b8718060134b2f8ca_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112982912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112982904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112982920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112982937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112982947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112982927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,621.7,492.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4f28b42169f4404cbab4b43476e13885_6da82e1adba0424b8718060134b2f8ca_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112982912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112982904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112982920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112982937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112982947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112982927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,621.7,492.5>? 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": "4f28b42169f4404cbab4b43476e13885_6da82e1adba0424b8718060134b2f8ca_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112982912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112982904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112982920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112982937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112982947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112982927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,621.7,492.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "4f28b42169f4404cbab4b43476e13885_6da82e1adba0424b8718060134b2f8ca_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112982912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112982904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112982920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112982937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112982947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112982927893.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, brake suddenly, decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "4f28b42169f4404cbab4b43476e13885_6da82e1adba0424b8718060134b2f8ca_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112982912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112982904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112982920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112982937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112982947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533112982927893.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": "3034b3f33e1d49f4a7b6c84bdea57004_12937adec9174760a1ae861556400d9a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659301862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659301854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659301870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659301887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659301897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659301878113.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 gray SUV to the front of the ego vehicle, a white sedan to the front left of the ego vehicle, a black SUV to the front of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1030.0,534.2>, <c2,CAM_FRONT,490.8,580.0>, <c3,CAM_FRONT_LEFT,614.8,752.4>, <c4,CAM_FRONT,806.7,516.7>, and <c5,CAM_FRONT,985.8,508.3>."
            }
        ]
    },
    {
        "id": "3034b3f33e1d49f4a7b6c84bdea57004_12937adec9174760a1ae861556400d9a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659301862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659301854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659301870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659301887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659301897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659301878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1030.0,534.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3034b3f33e1d49f4a7b6c84bdea57004_12937adec9174760a1ae861556400d9a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659301862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659301854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659301870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659301887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659301897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659301878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1030.0,534.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3034b3f33e1d49f4a7b6c84bdea57004_12937adec9174760a1ae861556400d9a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659301862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659301854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659301870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659301887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659301897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659301878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1030.0,534.2>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "3034b3f33e1d49f4a7b6c84bdea57004_12937adec9174760a1ae861556400d9a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659301862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659301854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659301870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659301887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659301897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659301878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1030.0,534.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "3034b3f33e1d49f4a7b6c84bdea57004_12937adec9174760a1ae861556400d9a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659301862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659301854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659301870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659301887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659301897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659301878113.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": "3034b3f33e1d49f4a7b6c84bdea57004_12937adec9174760a1ae861556400d9a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659301862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659301854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659301870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659301887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659301897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659301878113.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 with normal speed."
            }
        ]
    },
    {
        "id": "8d267899e2e843d4905fafd1f12c0a20_347d674e1fdb43308644983a2dc6b595_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800558362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800558354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800558370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800558387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800558397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800558377893.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 uncertain to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a uncertain to the front of the ego vehicle, a white sedan car to the back right of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,990.8,484.2>, <c2,CAM_BACK,359.2,660.8>, <c3,CAM_FRONT,783.3,501.7>, <c4,CAM_BACK_RIGHT,775.8,646.1>, and <c5,CAM_FRONT,1412.5,612.0>."
            }
        ]
    },
    {
        "id": "8d267899e2e843d4905fafd1f12c0a20_347d674e1fdb43308644983a2dc6b595_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800558362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800558354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800558370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800558387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800558397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800558377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,990.8,484.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8d267899e2e843d4905fafd1f12c0a20_347d674e1fdb43308644983a2dc6b595_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800558362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800558354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800558370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800558387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800558397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800558377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,990.8,484.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8d267899e2e843d4905fafd1f12c0a20_347d674e1fdb43308644983a2dc6b595_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800558362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800558354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800558370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800558387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800558397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800558377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,990.8,484.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep going at the same speed, the reason being that there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "8d267899e2e843d4905fafd1f12c0a20_347d674e1fdb43308644983a2dc6b595_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800558362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800558354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800558370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800558387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800558397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800558377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,990.8,484.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "8d267899e2e843d4905fafd1f12c0a20_347d674e1fdb43308644983a2dc6b595_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800558362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800558354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800558370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800558387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800558397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800558377893.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, and keep going at the same speed are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "8d267899e2e843d4905fafd1f12c0a20_347d674e1fdb43308644983a2dc6b595_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800558362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800558354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800558370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800558387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800558397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800558377893.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": "fe3aa64e4339456186c38c6308f5fb1a_b8c748e8505545148919b6c4a4874809_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573365862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573365854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573365870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573365887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573365897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573365878113.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 SUV to the back 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 <c1,CAM_FRONT,702.5,495.8>, <c2,CAM_BACK,850.0,515.0>, <c3,CAM_FRONT_RIGHT,287.5,670.8>, and <c4,CAM_FRONT,810.2,404.3>."
            }
        ]
    },
    {
        "id": "fe3aa64e4339456186c38c6308f5fb1a_b8c748e8505545148919b6c4a4874809_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573365862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573365854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573365870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573365887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573365897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573365878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,850.0,515.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fe3aa64e4339456186c38c6308f5fb1a_b8c748e8505545148919b6c4a4874809_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573365862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573365854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573365870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573365887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573365897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573365878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,702.5,495.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fe3aa64e4339456186c38c6308f5fb1a_b8c748e8505545148919b6c4a4874809_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573365862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573365854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573365870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573365887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573365897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573365878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,702.5,495.8>? 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": "fe3aa64e4339456186c38c6308f5fb1a_b8c748e8505545148919b6c4a4874809_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573365862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573365854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573365870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573365887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573365897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573365878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,702.5,495.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "fe3aa64e4339456186c38c6308f5fb1a_b8c748e8505545148919b6c4a4874809_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573365862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573365854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573365870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573365887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573365897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573365878113.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": "fe3aa64e4339456186c38c6308f5fb1a_b8c748e8505545148919b6c4a4874809_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573365862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573365854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573365870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573365887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573365897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573365878113.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": "214008f81b8b4b509c730f0c13e9491f_0aa725404dce47168b991c1dbdd9f32b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573541412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573541404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573541420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573541437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573541447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573541428113.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 car to the back of the ego vehicle, pedestrians crossing the road to the front of the ego vehicle, a pedestrian wearing short sleeves and shorts to the front right of the ego vehicle, and a silver sedan to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,789.2,670.8>, <c2,CAM_FRONT,748.3,580.0>, <c3,CAM_FRONT_RIGHT,1159.2,569.2>, and <c4,CAM_BACK_LEFT,821.7,680.8>."
            }
        ]
    },
    {
        "id": "214008f81b8b4b509c730f0c13e9491f_0aa725404dce47168b991c1dbdd9f32b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573541412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573541404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573541420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573541437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573541447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573541428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,748.3,580.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "214008f81b8b4b509c730f0c13e9491f_0aa725404dce47168b991c1dbdd9f32b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573541412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573541404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573541420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573541437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573541447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573541428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,789.2,670.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "214008f81b8b4b509c730f0c13e9491f_0aa725404dce47168b991c1dbdd9f32b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573541412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573541404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573541420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573541437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573541447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573541428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,789.2,670.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary, the reason is to follow the traffic rules, high."
            }
        ]
    },
    {
        "id": "214008f81b8b4b509c730f0c13e9491f_0aa725404dce47168b991c1dbdd9f32b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573541412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573541404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573541420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573541437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573541447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573541428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,789.2,670.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "214008f81b8b4b509c730f0c13e9491f_0aa725404dce47168b991c1dbdd9f32b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573541412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573541404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573541420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573541437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573541447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573541428113.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": "214008f81b8b4b509c730f0c13e9491f_0aa725404dce47168b991c1dbdd9f32b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573541412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573541404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573541420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573541437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573541447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573541428113.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": "aa54277d163d419b9f952b014112643e_f35c6c02bc81446d9e3b9d671ed002a2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298905862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298905854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298905870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298905887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298905897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298905878113.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 front left of the ego vehicle, a black sedan car to the front of the ego vehicle, a black pickup truck to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,566.2,650.0>, <c2,CAM_FRONT,736.7,485.0>, <c3,CAM_FRONT,1217.5,479.2>, and <c4,CAM_FRONT,839.9,318.3>."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_f35c6c02bc81446d9e3b9d671ed002a2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298905862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298905854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298905870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298905887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298905897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298905878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,736.7,485.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_f35c6c02bc81446d9e3b9d671ed002a2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298905862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298905854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298905870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298905887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298905897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298905878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,566.2,650.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_f35c6c02bc81446d9e3b9d671ed002a2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298905862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298905854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298905870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298905887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298905897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298905878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,566.2,650.0>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary, the reason is to follow the traffic rules, high."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_f35c6c02bc81446d9e3b9d671ed002a2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298905862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298905854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298905870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298905887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298905897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298905878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,566.2,650.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_f35c6c02bc81446d9e3b9d671ed002a2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298905862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298905854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298905870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298905887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298905897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298905878113.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": "Back up; brake suddenly."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_f35c6c02bc81446d9e3b9d671ed002a2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298905862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298905854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298905870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298905887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298905897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298905878113.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": "aa54277d163d419b9f952b014112643e_f44e73f5db0348418acf9d4c97f39072_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298912912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298912904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298912921063.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298912937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298912947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298912928113.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 left of the ego vehicle, a gray pickup truck to the front left of the ego vehicle, a gray sedan to the back of the ego vehicle, a black SUV to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,558.9,709.7>, <c2,CAM_FRONT_LEFT,1284.2,505.8>, <c3,CAM_BACK,1456.7,670.8>, <c4,CAM_FRONT,565.8,494.2>, and <c5,CAM_FRONT,827.4,312.0>."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_f44e73f5db0348418acf9d4c97f39072_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298912912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298912904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298912921063.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298912937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298912947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298912928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_FRONT,565.8,494.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_f44e73f5db0348418acf9d4c97f39072_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298912912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298912904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298912921063.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298912937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298912947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298912928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,558.9,709.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_f44e73f5db0348418acf9d4c97f39072_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298912912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298912904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298912921063.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298912937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298912947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298912928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,558.9,709.7>? 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 avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_f44e73f5db0348418acf9d4c97f39072_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298912912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298912904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298912921063.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298912937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298912947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298912928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,558.9,709.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_f44e73f5db0348418acf9d4c97f39072_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298912912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298912904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298912921063.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298912937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298912947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298912928113.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."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_f44e73f5db0348418acf9d4c97f39072_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298912912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298912904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298912921063.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298912937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298912947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298912928113.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": "aa54277d163d419b9f952b014112643e_3e78b4fc22aa46dea8dad086904f392e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298902362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298902354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298902370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298902387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298902397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298902378113.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 left of the ego vehicle, a black sedan to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,589.1,714.0>, <c2,CAM_FRONT,728.3,513.3>, and <c3,CAM_FRONT,824.3,316.0>."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_3e78b4fc22aa46dea8dad086904f392e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298902362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298902354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298902370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298902387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298902397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298902378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,728.3,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_3e78b4fc22aa46dea8dad086904f392e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298902362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298902354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298902370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298902387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298902397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298902378113.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 <c1,CAM_FRONT_LEFT,589.1,714.0>. The object is stationary, so the ego vehicle should remain stationary. Secondly, notice that <c2,CAM_FRONT,728.3,513.3>. The object is going ahead, so the ego vehicle should remain stationary. Thirdly, notice that <c3,CAM_FRONT,824.3,316.0>. The object is a traffic sign, so the ego vehicle should remain stationary."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_3e78b4fc22aa46dea8dad086904f392e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298902362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298902354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298902370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298902387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298902397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298902378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,589.1,714.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_3e78b4fc22aa46dea8dad086904f392e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298902362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298902354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298902370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298902387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298902397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298902378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,589.1,714.0>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_3e78b4fc22aa46dea8dad086904f392e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298902362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298902354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298902370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298902387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298902397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298902378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,589.1,714.0>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_3e78b4fc22aa46dea8dad086904f392e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298902362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298902354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298902370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298902387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298902397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298902378113.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 suddenly, brake gently to a stop."
            }
        ]
    },
    {
        "id": "aa54277d163d419b9f952b014112643e_3e78b4fc22aa46dea8dad086904f392e_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298902362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298902354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298902370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298902387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298902397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298902378113.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": "d1ac8e27ba8944a4a42a488cf2fedd74_7dad3eeefb7b4a008b6c82b0a15354b7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867241162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867241154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867241170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867241187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867241197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867241178113.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 grayish white SUV to the back of the ego vehicle, a gray SUV to the front of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,870.0,558.3>, <c2,CAM_FRONT,1056.7,496.7>, and <c3,CAM_FRONT,772.5,515.0>."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_7dad3eeefb7b4a008b6c82b0a15354b7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867241162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867241154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867241170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867241187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867241197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867241178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,870.0,558.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_7dad3eeefb7b4a008b6c82b0a15354b7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867241162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867241154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867241170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867241187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867241197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867241178113.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 <c2,CAM_FRONT,1056.7,496.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,772.5,515.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,870.0,558.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_7dad3eeefb7b4a008b6c82b0a15354b7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867241162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867241154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867241170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867241187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867241197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867241178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,870.0,558.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_7dad3eeefb7b4a008b6c82b0a15354b7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867241162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867241154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867241170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867241187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867241197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867241178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,870.0,558.3>? 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. The probability is low."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_7dad3eeefb7b4a008b6c82b0a15354b7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867241162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867241154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867241170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867241187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867241197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867241178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,870.0,558.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_7dad3eeefb7b4a008b6c82b0a15354b7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867241162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867241154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867241170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867241187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867241197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867241178113.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, slightly offset to the left, and slightly offset to the right are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_7dad3eeefb7b4a008b6c82b0a15354b7_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867241162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867241154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867241170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867241187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867241197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867241178113.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": "d1ac8e27ba8944a4a42a488cf2fedd74_f3ba86aaa6864700a5ac9e4d655dea43_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867230862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867230854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867230870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867230887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867230897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867230878113.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 back of the ego vehicle, a black SUV to the back of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,872.5,512.5>, <c2,CAM_BACK,437.5,549.2>, and <c3,CAM_FRONT,695.8,510.0>."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_f3ba86aaa6864700a5ac9e4d655dea43_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867230862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867230854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867230870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867230887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867230897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867230878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,872.5,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_f3ba86aaa6864700a5ac9e4d655dea43_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867230862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867230854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867230870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867230887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867230897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867230878113.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 <c3,CAM_FRONT,695.8,510.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c2,CAM_BACK,437.5,549.2>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c1,CAM_BACK,872.5,512.5>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_f3ba86aaa6864700a5ac9e4d655dea43_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867230862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867230854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867230870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867230887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867230897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867230878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,872.5,512.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_f3ba86aaa6864700a5ac9e4d655dea43_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867230862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867230854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867230870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867230887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867230897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867230878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,872.5,512.5>? 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": "d1ac8e27ba8944a4a42a488cf2fedd74_f3ba86aaa6864700a5ac9e4d655dea43_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867230862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867230854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867230870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867230887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867230897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867230878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,872.5,512.5>?"
            },
            {
                "from": "gpt",
                "value": "None."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_f3ba86aaa6864700a5ac9e4d655dea43_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867230862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867230854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867230870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867230887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867230897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867230878113.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": "d1ac8e27ba8944a4a42a488cf2fedd74_f3ba86aaa6864700a5ac9e4d655dea43_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867230862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867230854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867230870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867230887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867230897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867230878113.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": "d1ac8e27ba8944a4a42a488cf2fedd74_19f2260e5eae43da9c777d2a6db11c9a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867248262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867248254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867248270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867248287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867248297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867248278136.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 commercial vehicle to the back of the ego vehicle, a silver sedan to the back of the ego vehicle, and a black sedan car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,867.5,529.2>, <c2,CAM_BACK,656.7,513.3>, and <c3,CAM_FRONT,97.5,565.8>."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_19f2260e5eae43da9c777d2a6db11c9a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867248262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867248254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867248270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867248287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867248297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867248278136.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,867.5,529.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_19f2260e5eae43da9c777d2a6db11c9a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867248262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867248254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867248270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867248287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867248297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867248278136.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 <c3,CAM_FRONT,97.5,565.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_BACK,867.5,529.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,656.7,513.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_19f2260e5eae43da9c777d2a6db11c9a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867248262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867248254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867248270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867248287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867248297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867248278136.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,867.5,529.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_19f2260e5eae43da9c777d2a6db11c9a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867248262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867248254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867248270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867248287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867248297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867248278136.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,867.5,529.2>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_19f2260e5eae43da9c777d2a6db11c9a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867248262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867248254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867248270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867248287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867248297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867248278136.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,867.5,529.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_19f2260e5eae43da9c777d2a6db11c9a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867248262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867248254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867248270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867248287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867248297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867248278136.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, brake gently to a stop, decelerate gradually without braking, slightly offset to the left, slightly offset to the right, or change to the right lane."
            }
        ]
    },
    {
        "id": "d1ac8e27ba8944a4a42a488cf2fedd74_19f2260e5eae43da9c777d2a6db11c9a_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867248262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867248254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867248270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867248287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867248297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867248278136.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": "724957e51f464a9aa64a16458443786d_08c40ffecc4e4e94b575fa76dcafccec_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708643862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708643854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708643870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708643887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708643897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708643878113.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 back of the ego vehicle, a walking person to the back right of the ego vehicle, pedestrians crossing the road to the front of the ego vehicle, a white sedan to the back left of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,842.5,470.8>, <c2,CAM_BACK_RIGHT,378.3,535.0>, <c3,CAM_FRONT,673.3,585.8>, <c4,CAM_BACK_LEFT,955.8,681.7>, and <c5,CAM_FRONT,622.5,503.3>."
            }
        ]
    },
    {
        "id": "724957e51f464a9aa64a16458443786d_08c40ffecc4e4e94b575fa76dcafccec_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708643862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708643854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708643870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708643887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708643897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708643878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,842.5,470.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "724957e51f464a9aa64a16458443786d_08c40ffecc4e4e94b575fa76dcafccec_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708643862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708643854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708643870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708643887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708643897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708643878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,842.5,470.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "724957e51f464a9aa64a16458443786d_08c40ffecc4e4e94b575fa76dcafccec_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708643862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708643854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708643870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708643887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708643897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708643878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,842.5,470.8>? 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 probability."
            }
        ]
    },
    {
        "id": "724957e51f464a9aa64a16458443786d_08c40ffecc4e4e94b575fa76dcafccec_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708643862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708643854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708643870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708643887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708643897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708643878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,842.5,470.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "724957e51f464a9aa64a16458443786d_08c40ffecc4e4e94b575fa76dcafccec_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708643862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708643854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708643870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708643887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708643897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708643878113.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": "724957e51f464a9aa64a16458443786d_08c40ffecc4e4e94b575fa76dcafccec_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708643862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708643854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708643870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708643887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708643897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708643878113.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": "724957e51f464a9aa64a16458443786d_5ea28f5661944be5874a4b49151672b8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708637412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708637404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708637420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708637437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708637447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708637428113.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 silver sedan to the back left of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front left of the ego vehicle, and a road sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,266.7,615.8>, <c2,CAM_BACK_LEFT,1046.7,671.7>, <c3,CAM_FRONT,890.0,527.5>, <c4,CAM_FRONT_LEFT,1322.5,530.8>, and <c5,CAM_FRONT_RIGHT,323.1,369.9>."
            }
        ]
    },
    {
        "id": "724957e51f464a9aa64a16458443786d_5ea28f5661944be5874a4b49151672b8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708637412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708637404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708637420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708637437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708637447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708637428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,890.0,527.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "724957e51f464a9aa64a16458443786d_5ea28f5661944be5874a4b49151672b8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708637412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708637404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708637420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708637437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708637447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708637428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,266.7,615.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "724957e51f464a9aa64a16458443786d_5ea28f5661944be5874a4b49151672b8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708637412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708637404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708637420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708637437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708637447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708637428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,266.7,615.8>? 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": "724957e51f464a9aa64a16458443786d_5ea28f5661944be5874a4b49151672b8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708637412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708637404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708637420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708637437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708637447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708637428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT,890.0,527.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "724957e51f464a9aa64a16458443786d_5ea28f5661944be5874a4b49151672b8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708637412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708637404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708637420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708637437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708637447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708637428113.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": "724957e51f464a9aa64a16458443786d_5ea28f5661944be5874a4b49151672b8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708637412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708637404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708637420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708637437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708637447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708637428113.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": "daa9fce50073470398da3c2bccdaf21b_0799ca6861ca490da7cace1abdf66dab_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884396512468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884396504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884396520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884396537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884396547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884396527893.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 person wearing black clothes to the front of the ego vehicle, a green truck to the front of the ego vehicle, and a yellow bus to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,547.5,527.5>, <c2,CAM_FRONT,92.5,542.5>, <c3,CAM_FRONT,707.5,480.8>, and <c4,CAM_BACK,336.7,493.3>."
            }
        ]
    },
    {
        "id": "daa9fce50073470398da3c2bccdaf21b_0799ca6861ca490da7cace1abdf66dab_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884396512468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884396504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884396520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884396537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884396547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884396527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,547.5,527.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "daa9fce50073470398da3c2bccdaf21b_0799ca6861ca490da7cace1abdf66dab_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884396512468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884396504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884396520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884396537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884396547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884396527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,547.5,527.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "daa9fce50073470398da3c2bccdaf21b_0799ca6861ca490da7cace1abdf66dab_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884396512468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884396504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884396520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884396537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884396547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884396527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,547.5,527.5>? 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": "daa9fce50073470398da3c2bccdaf21b_0799ca6861ca490da7cace1abdf66dab_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884396512468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884396504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884396520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884396537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884396547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884396527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,547.5,527.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "daa9fce50073470398da3c2bccdaf21b_0799ca6861ca490da7cace1abdf66dab_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884396512468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884396504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884396520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884396537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884396547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884396527893.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": "daa9fce50073470398da3c2bccdaf21b_0799ca6861ca490da7cace1abdf66dab_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884396512468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884396504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884396520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884396537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884396547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884396527893.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": "2c96ff6afc9e4cf7bc8b107fce955c1f_5c869e4ac798453db53256b915360703_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289782512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289782504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289782520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289782537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289782547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289782528113.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 yellow construction vehicle to the front of the ego vehicle, a crash bucket to the front left of the ego vehicle, and a walking person to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,886.7,516.7>, <c2,CAM_FRONT,1032.5,461.7>, <c3,CAM_FRONT_LEFT,1145.0,517.5>, and <c4,CAM_FRONT_RIGHT,639.2,485.8>."
            }
        ]
    },
    {
        "id": "2c96ff6afc9e4cf7bc8b107fce955c1f_5c869e4ac798453db53256b915360703_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289782512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289782504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289782520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289782537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289782547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289782528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,886.7,516.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2c96ff6afc9e4cf7bc8b107fce955c1f_5c869e4ac798453db53256b915360703_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289782512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289782504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289782520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289782537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289782547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289782528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,886.7,516.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2c96ff6afc9e4cf7bc8b107fce955c1f_5c869e4ac798453db53256b915360703_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289782512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289782504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289782520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289782537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289782547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289782528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,886.7,516.7>? 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": "2c96ff6afc9e4cf7bc8b107fce955c1f_5c869e4ac798453db53256b915360703_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289782512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289782504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289782520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289782537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289782547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289782528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,886.7,516.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "2c96ff6afc9e4cf7bc8b107fce955c1f_5c869e4ac798453db53256b915360703_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289782512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289782504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289782520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289782537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289782547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289782528113.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": "2c96ff6afc9e4cf7bc8b107fce955c1f_5c869e4ac798453db53256b915360703_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289782512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289782504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289782520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289782537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289782547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289782528113.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": "2c96ff6afc9e4cf7bc8b107fce955c1f_74266adde64a42689101df27ce3a7802_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289780012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289780004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289780020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289780037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289780047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289780028118.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 yellow construction vehicle to the front of the ego vehicle, a white sedan to the front left of the ego vehicle, and a black pants pedestrian to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,890.0,509.2>, <c2,CAM_FRONT,990.0,475.8>, <c3,CAM_FRONT_LEFT,954.2,543.3>, and <c4,CAM_FRONT_RIGHT,1328.3,524.2>."
            }
        ]
    },
    {
        "id": "2c96ff6afc9e4cf7bc8b107fce955c1f_74266adde64a42689101df27ce3a7802_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289780012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289780004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289780020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289780037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289780047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289780028118.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,890.0,509.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2c96ff6afc9e4cf7bc8b107fce955c1f_74266adde64a42689101df27ce3a7802_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289780012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289780004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289780020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289780037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289780047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289780028118.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,890.0,509.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2c96ff6afc9e4cf7bc8b107fce955c1f_74266adde64a42689101df27ce3a7802_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289780012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289780004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289780020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289780037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289780047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289780028118.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,890.0,509.2>? 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": "2c96ff6afc9e4cf7bc8b107fce955c1f_74266adde64a42689101df27ce3a7802_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289780012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289780004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289780020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289780037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289780047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289780028118.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,890.0,509.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "2c96ff6afc9e4cf7bc8b107fce955c1f_74266adde64a42689101df27ce3a7802_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289780012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289780004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289780020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289780037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289780047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289780028118.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": "2c96ff6afc9e4cf7bc8b107fce955c1f_74266adde64a42689101df27ce3a7802_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289780012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289780004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289780020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289780037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289780047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289780028118.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": "6b6a24b7ae6b40ee95d60918f7f4cb2e_4b58659fbc8449a793224362b991c494_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297060362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297060354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297060370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297060387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297060397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297060378113.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 right of the ego vehicle, a silver gray SUV to the back of the ego vehicle, a black sedan to the back of the ego vehicle, a white van to the back right of the ego vehicle, a black sedan to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,290.5,630.8>, <c2,CAM_BACK,327.1,585.8>, <c3,CAM_BACK,890.8,638.3>, <c4,CAM_BACK_RIGHT,439.4,517.5>, <c5,CAM_FRONT,362.5,550.0>, and <c6,CAM_FRONT,899.3,326.6>."
            }
        ]
    },
    {
        "id": "6b6a24b7ae6b40ee95d60918f7f4cb2e_4b58659fbc8449a793224362b991c494_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297060362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297060354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297060370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297060387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297060397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297060378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,290.5,630.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6b6a24b7ae6b40ee95d60918f7f4cb2e_4b58659fbc8449a793224362b991c494_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297060362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297060354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297060370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297060387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297060397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297060378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,290.5,630.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6b6a24b7ae6b40ee95d60918f7f4cb2e_4b58659fbc8449a793224362b991c494_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297060362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297060354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297060370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297060387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297060397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297060378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,290.5,630.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "6b6a24b7ae6b40ee95d60918f7f4cb2e_4b58659fbc8449a793224362b991c494_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297060362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297060354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297060370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297060387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297060397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297060378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,290.5,630.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "6b6a24b7ae6b40ee95d60918f7f4cb2e_4b58659fbc8449a793224362b991c494_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297060362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297060354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297060370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297060387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297060397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297060378113.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."
            }
        ]
    },
    {
        "id": "6b6a24b7ae6b40ee95d60918f7f4cb2e_4b58659fbc8449a793224362b991c494_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297060362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297060354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297060370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297060387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297060397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297060378113.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": "d0de3bf834b747179080898725b0f21d_3640145bfc1442559913fd71d345bfa7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.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 roadblock to the front right of the ego vehicle, a silver SUV to the front of the ego vehicle, and a white van to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1379.2,778.3>, <c2,CAM_FRONT,481.7,486.7>, and <c3,CAM_FRONT_LEFT,1230.0,443.3>."
            }
        ]
    },
    {
        "id": "d0de3bf834b747179080898725b0f21d_3640145bfc1442559913fd71d345bfa7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,481.7,486.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d0de3bf834b747179080898725b0f21d_3640145bfc1442559913fd71d345bfa7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.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 <c2,CAM_FRONT,481.7,486.7>. The object is turning left, so the ego vehicle should turn left. Secondly, notice that <c3,CAM_FRONT_LEFT,1230.0,443.3>. The object is turning left, so the ego vehicle should turn left. Thirdly, notice that <c1,CAM_FRONT_RIGHT,1379.2,778.3>. The object is a traffic sign, so the ego vehicle should turn left."
            }
        ]
    },
    {
        "id": "d0de3bf834b747179080898725b0f21d_3640145bfc1442559913fd71d345bfa7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1379.2,778.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "d0de3bf834b747179080898725b0f21d_3640145bfc1442559913fd71d345bfa7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_FRONT,481.7,486.7>? 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, and the probability is high."
            }
        ]
    },
    {
        "id": "d0de3bf834b747179080898725b0f21d_3640145bfc1442559913fd71d345bfa7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT_LEFT,1230.0,443.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "d0de3bf834b747179080898725b0f21d_3640145bfc1442559913fd71d345bfa7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.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": "d0de3bf834b747179080898725b0f21d_3640145bfc1442559913fd71d345bfa7_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.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": "d0de3bf834b747179080898725b0f21d_7cafa13012db45d182c6c2aa2b463ca8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281753362659.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281753354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281753370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281753387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281753397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281753377893.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 top and black pants to the front of the ego vehicle, a white sedan car to the front right of the ego vehicle, and a white commercial vehicle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,375.0,482.5>, <c2,CAM_FRONT_RIGHT,650.0,496.7>, and <c3,CAM_FRONT,795.8,513.3>."
            }
        ]
    },
    {
        "id": "d0de3bf834b747179080898725b0f21d_7cafa13012db45d182c6c2aa2b463ca8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281753362659.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281753354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281753370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281753387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281753397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281753377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,375.0,482.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d0de3bf834b747179080898725b0f21d_7cafa13012db45d182c6c2aa2b463ca8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281753362659.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281753354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281753370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281753387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281753397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281753377893.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 <c2,CAM_FRONT_RIGHT,650.0,496.7>. The object is going ahead, so the ego vehicle should turn left. Secondly, notice that <c3,CAM_FRONT,795.8,513.3>. The object is going ahead, so the ego vehicle should turn left. Thirdly, notice that <c1,CAM_FRONT,375.0,482.5>. The object is going ahead, so the ego vehicle should turn left."
            }
        ]
    },
    {
        "id": "d0de3bf834b747179080898725b0f21d_7cafa13012db45d182c6c2aa2b463ca8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281753362659.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281753354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281753370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281753387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281753397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281753377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,375.0,482.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d0de3bf834b747179080898725b0f21d_7cafa13012db45d182c6c2aa2b463ca8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281753362659.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281753354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281753370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281753387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281753397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281753377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,375.0,482.5>? 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": "d0de3bf834b747179080898725b0f21d_7cafa13012db45d182c6c2aa2b463ca8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281753362659.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281753354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281753370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281753387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281753397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281753377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,375.0,482.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "d0de3bf834b747179080898725b0f21d_7cafa13012db45d182c6c2aa2b463ca8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281753362659.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281753354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281753370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281753387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281753397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281753377893.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": "Turning right and backing up are safe actions for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "d0de3bf834b747179080898725b0f21d_7cafa13012db45d182c6c2aa2b463ca8_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281753362659.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281753354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281753370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281753387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281753397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281753377893.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 with normal speed."
            }
        ]
    },
    {
        "id": "bd22f197e9f648cba8e307869479629b_b17c822367824affaf008366ee79e038_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293327112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293327104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293327120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293327137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293327147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293327128113.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 and white minibus to the front of the ego vehicle, a black and white minibus to the back left of the ego vehicle, a pedestrian wearing black pants to the front left of the ego vehicle, and a blue truck to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,252.1,442.8>, <c2,CAM_BACK_LEFT,994.1,396.8>, <c3,CAM_FRONT_LEFT,1222.5,482.5>, and <c4,CAM_FRONT_RIGHT,80.8,437.5>."
            }
        ]
    },
    {
        "id": "bd22f197e9f648cba8e307869479629b_b17c822367824affaf008366ee79e038_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293327112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293327104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293327120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293327137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293327147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293327128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,252.1,442.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bd22f197e9f648cba8e307869479629b_b17c822367824affaf008366ee79e038_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293327112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293327104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293327120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293327137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293327147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293327128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,252.1,442.8>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "bd22f197e9f648cba8e307869479629b_b17c822367824affaf008366ee79e038_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293327112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293327104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293327120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293327137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293327147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293327128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,252.1,442.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "bd22f197e9f648cba8e307869479629b_b17c822367824affaf008366ee79e038_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293327112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293327104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293327120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293327137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293327147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293327128113.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 ahead."
            }
        ]
    },
    {
        "id": "bd22f197e9f648cba8e307869479629b_b17c822367824affaf008366ee79e038_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293327112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293327104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293327120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293327137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293327147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293327128113.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": "7599adab7f3944dc8ac1c88b4f3bb082_a59d9658cb2c4849ad291503e74e95c0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708318012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708318004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708318020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708318037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708318047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708318028113.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 car to the back of the ego vehicle, a person riding a bicycle to the front right of the ego vehicle, a white truck to the front of the ego vehicle, a white truck to the front left of the ego vehicle, a yellow truck to the front of the ego vehicle, and a black traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,742.5,646.7>, <c2,CAM_FRONT_RIGHT,825.8,686.7>, <c3,CAM_FRONT,632.5,455.0>, <c4,CAM_FRONT_LEFT,630.0,481.7>, <c5,CAM_FRONT,479.2,465.0>, and <c6,CAM_FRONT,1248.6,386.5>."
            }
        ]
    },
    {
        "id": "7599adab7f3944dc8ac1c88b4f3bb082_a59d9658cb2c4849ad291503e74e95c0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708318012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708318004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708318020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708318037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708318047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708318028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,825.8,686.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7599adab7f3944dc8ac1c88b4f3bb082_a59d9658cb2c4849ad291503e74e95c0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708318012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708318004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708318020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708318037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708318047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708318028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,742.5,646.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7599adab7f3944dc8ac1c88b4f3bb082_a59d9658cb2c4849ad291503e74e95c0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708318012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708318004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708318020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708318037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708318047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708318028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,742.5,646.7>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "7599adab7f3944dc8ac1c88b4f3bb082_a59d9658cb2c4849ad291503e74e95c0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708318012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708318004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708318020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708318037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708318047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708318028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,742.5,646.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "7599adab7f3944dc8ac1c88b4f3bb082_a59d9658cb2c4849ad291503e74e95c0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708318012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708318004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708318020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708318037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708318047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708318028113.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, slightly offset to the right, or brake suddenly."
            }
        ]
    },
    {
        "id": "7599adab7f3944dc8ac1c88b4f3bb082_a59d9658cb2c4849ad291503e74e95c0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708318012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708318004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708318020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708318037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708318047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708318028113.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": "f36162eac28641a0978032ff89e0f752_b751e6c14fbe4fdcbc5a3ae1999d2301_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573108012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573108005144.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573108020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573108037670.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573108047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573108028113.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 front of the ego vehicle, a black sedan to the back of the ego vehicle, and a white sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,719.2,475.8>, <c2,CAM_BACK,878.3,505.8>, and <c3,CAM_BACK_RIGHT,191.7,673.3>."
            }
        ]
    },
    {
        "id": "f36162eac28641a0978032ff89e0f752_b751e6c14fbe4fdcbc5a3ae1999d2301_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573108012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573108005144.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573108020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573108037670.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573108047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573108028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,878.3,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f36162eac28641a0978032ff89e0f752_b751e6c14fbe4fdcbc5a3ae1999d2301_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573108012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573108005144.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573108020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573108037670.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573108047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573108028113.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 <c1,CAM_FRONT,719.2,475.8>; it is stationary, so the ego vehicle should continue ahead at the same speed. Secondly notice that <c3,CAM_BACK_RIGHT,191.7,673.3>; it is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly notice that <c2,CAM_BACK,878.3,505.8>; the object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "f36162eac28641a0978032ff89e0f752_b751e6c14fbe4fdcbc5a3ae1999d2301_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573108012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573108005144.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573108020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573108037670.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573108047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573108028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,719.2,475.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f36162eac28641a0978032ff89e0f752_b751e6c14fbe4fdcbc5a3ae1999d2301_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573108012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573108005144.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573108020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573108037670.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573108047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573108028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,719.2,475.8>? 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": "f36162eac28641a0978032ff89e0f752_b751e6c14fbe4fdcbc5a3ae1999d2301_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573108012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573108005144.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573108020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573108037670.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573108047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573108028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,719.2,475.8>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT,719.2,475.8>."
            }
        ]
    },
    {
        "id": "f36162eac28641a0978032ff89e0f752_b751e6c14fbe4fdcbc5a3ae1999d2301_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573108012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573108005144.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573108020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573108037670.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573108047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573108028113.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": "f36162eac28641a0978032ff89e0f752_b751e6c14fbe4fdcbc5a3ae1999d2301_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573108012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573108005144.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573108020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573108037670.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573108047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573108028113.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": "19284973bd0342998c37848e931a90d0_17a97d5cbae344fa887c01cd0c09ef1d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449182862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449182854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449182870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449182887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449182897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449182877893.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 with black shirt to the front left of the ego vehicle, a white sedan car to the back of the ego vehicle, and a person wearing a black shirt to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,483.3,510.8>, <c2,CAM_BACK,824.2,520.0>, and <c3,CAM_FRONT,310.0,510.0>."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_17a97d5cbae344fa887c01cd0c09ef1d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449182862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449182854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449182870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449182887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449182897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449182877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,824.2,520.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_17a97d5cbae344fa887c01cd0c09ef1d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449182862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449182854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449182870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449182887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449182897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449182877893.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 <c1,CAM_FRONT_LEFT,483.3,510.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,310.0,510.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,824.2,520.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_17a97d5cbae344fa887c01cd0c09ef1d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449182862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449182854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449182870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449182887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449182897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449182877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,483.3,510.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_17a97d5cbae344fa887c01cd0c09ef1d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449182862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449182854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449182870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449182887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449182897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449182877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,483.3,510.8>? 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": "19284973bd0342998c37848e931a90d0_17a97d5cbae344fa887c01cd0c09ef1d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449182862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449182854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449182870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449182887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449182897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449182877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,824.2,520.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_17a97d5cbae344fa887c01cd0c09ef1d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449182862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449182854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449182870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449182887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449182897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449182877893.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": "19284973bd0342998c37848e931a90d0_17a97d5cbae344fa887c01cd0c09ef1d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449182862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449182854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449182870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449182887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449182897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449182877893.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": "19284973bd0342998c37848e931a90d0_66af1b4849b24479ab59b263237c95a2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449187412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449187404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449187420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449187437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449187447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449187427893.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 bicycle to the front of the ego vehicle, a white van to the back of the ego vehicle, and a white arrow graphic to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,345.8,540.8>, <c2,CAM_BACK,851.7,514.2>, and <c3,CAM_FRONT,771.2,792.4>."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_66af1b4849b24479ab59b263237c95a2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449187412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449187404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449187420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449187437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449187447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449187427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,851.7,514.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_66af1b4849b24479ab59b263237c95a2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449187412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449187404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449187420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449187437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449187447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449187427893.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 <c3,CAM_FRONT,771.2,792.4>. The object is a traffic sign, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c1,CAM_FRONT,345.8,540.8>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c2,CAM_BACK,851.7,514.2>. The object is moving ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_66af1b4849b24479ab59b263237c95a2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449187412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449187404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449187420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449187437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449187447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449187427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,345.8,540.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_66af1b4849b24479ab59b263237c95a2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449187412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449187404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449187420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449187437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449187447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449187427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,345.8,540.8>? 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 taking this action is that the object has little reference value for the ego vehicle, and the probability is high."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_66af1b4849b24479ab59b263237c95a2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449187412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449187404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449187420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449187437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449187447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449187427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,345.8,540.8>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT,345.8,540.8>."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_66af1b4849b24479ab59b263237c95a2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449187412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449187404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449187420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449187437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449187447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449187427893.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": "19284973bd0342998c37848e931a90d0_66af1b4849b24479ab59b263237c95a2_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449187412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449187404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449187420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449187437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449187447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449187427893.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": "19284973bd0342998c37848e931a90d0_69cd43d86ab0436cbde697f2eb57785c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449179362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449179354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449179370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449179387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449179397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449179377893.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 yellow sedan to the back of the ego vehicle, a white commercial vehicle to the back of the ego vehicle, and a black small car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,592.5,527.5>, <c2,CAM_BACK,846.7,517.5>, and <c3,CAM_FRONT,968.0,528.0>."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_69cd43d86ab0436cbde697f2eb57785c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449179362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449179354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449179370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449179387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449179397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449179377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,592.5,527.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_69cd43d86ab0436cbde697f2eb57785c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449179362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449179354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449179370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449179387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449179397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449179377893.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 <c3,CAM_FRONT,968.0,528.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c2,CAM_BACK,846.7,517.5>. The object is going ahead, so the ego vehicle should accelerate and go ahead. Thirdly notice that <c1,CAM_BACK,592.5,527.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_69cd43d86ab0436cbde697f2eb57785c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449179362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449179354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449179370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449179387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449179397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449179377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,592.5,527.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_69cd43d86ab0436cbde697f2eb57785c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449179362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449179354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449179370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449179387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449179397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449179377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,592.5,527.5>? 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 of taking this action is high."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_69cd43d86ab0436cbde697f2eb57785c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449179362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449179354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449179370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449179387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449179397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449179377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,592.5,527.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_69cd43d86ab0436cbde697f2eb57785c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449179362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449179354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449179370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449179387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449179397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449179377893.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 continue ahead."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_69cd43d86ab0436cbde697f2eb57785c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449179362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449179354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449179370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449179387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449179397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449179377893.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": "19284973bd0342998c37848e931a90d0_10ad8fae7fb145aaa9e8fc0e7918e20a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449196862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449196854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449196870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449196887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449196897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449196877893.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 white truck to the back of the ego vehicle, a gray sedan to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1140.8,477.5>, <c2,CAM_BACK,807.5,548.3>, <c3,CAM_FRONT,436.7,475.8>, and <c4,CAM_FRONT,865.4,306.6>."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_10ad8fae7fb145aaa9e8fc0e7918e20a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449196862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449196854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449196870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449196887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449196897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449196877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1140.8,477.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_10ad8fae7fb145aaa9e8fc0e7918e20a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449196862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449196854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449196870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449196887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449196897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449196877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1140.8,477.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_10ad8fae7fb145aaa9e8fc0e7918e20a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449196862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449196854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449196870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449196887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449196897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449196877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1140.8,477.5>? 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. The probability of this action is high."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_10ad8fae7fb145aaa9e8fc0e7918e20a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449196862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449196854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449196870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449196887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449196897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449196877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1140.8,477.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,1140.8,477.5>."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_10ad8fae7fb145aaa9e8fc0e7918e20a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449196862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449196854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449196870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449196887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449196897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449196877893.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 come to a stop."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_10ad8fae7fb145aaa9e8fc0e7918e20a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449196862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449196854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449196870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449196887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449196897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449196877893.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": "19284973bd0342998c37848e931a90d0_6524c85867dc4a8595a82e7d0fc620f5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449192912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449192904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449192920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449192937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449192947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449192927893.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 truck to the back of the ego vehicle, a white shape to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1098.3,468.3>, <c2,CAM_BACK,833.1,522.5>, <c3,CAM_FRONT,786.2,798.2>, and <c4,CAM_FRONT,842.8,412.8>."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_6524c85867dc4a8595a82e7d0fc620f5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449192912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449192904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449192920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449192937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449192947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449192927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,833.1,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_6524c85867dc4a8595a82e7d0fc620f5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449192912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449192904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449192920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449192937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449192947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449192927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1098.3,468.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_6524c85867dc4a8595a82e7d0fc620f5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449192912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449192904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449192920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449192937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449192947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449192927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1098.3,468.3>? 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": "19284973bd0342998c37848e931a90d0_6524c85867dc4a8595a82e7d0fc620f5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449192912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449192904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449192920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449192937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449192947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449192927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1098.3,468.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "19284973bd0342998c37848e931a90d0_6524c85867dc4a8595a82e7d0fc620f5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449192912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449192904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449192920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449192937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449192947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449192927893.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": "19284973bd0342998c37848e931a90d0_6524c85867dc4a8595a82e7d0fc620f5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449192912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449192904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449192920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449192937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449192947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449192927893.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": "73b16c26a0d24c7a841e4cbe5d0d7878_d6d68dcea40a4b27b621a4557772183e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291069262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291069254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291069270518.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291069287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291069297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291069278113.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 pickup truck to the front of the ego vehicle, a green SUV to the back of the ego vehicle, a white sedan to the front of the ego vehicle, a white truck to the back of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1028.3,480.0>, <c2,CAM_BACK,663.3,507.5>, <c3,CAM_FRONT,76.7,547.5>, <c4,CAM_BACK,858.3,476.7>, and <c5,CAM_FRONT,678.3,490.0>."
            }
        ]
    },
    {
        "id": "73b16c26a0d24c7a841e4cbe5d0d7878_d6d68dcea40a4b27b621a4557772183e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291069262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291069254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291069270518.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291069287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291069297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291069278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c5,CAM_FRONT,678.3,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "73b16c26a0d24c7a841e4cbe5d0d7878_d6d68dcea40a4b27b621a4557772183e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291069262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291069254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291069270518.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291069287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291069297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291069278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1028.3,480.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "73b16c26a0d24c7a841e4cbe5d0d7878_d6d68dcea40a4b27b621a4557772183e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291069262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291069254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291069270518.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291069287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291069297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291069278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1028.3,480.0>? 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 probability."
            }
        ]
    },
    {
        "id": "73b16c26a0d24c7a841e4cbe5d0d7878_d6d68dcea40a4b27b621a4557772183e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291069262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291069254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291069270518.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291069287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291069297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291069278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1028.3,480.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "73b16c26a0d24c7a841e4cbe5d0d7878_d6d68dcea40a4b27b621a4557772183e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291069262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291069254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291069270518.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291069287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291069297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291069278113.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": "73b16c26a0d24c7a841e4cbe5d0d7878_d6d68dcea40a4b27b621a4557772183e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291069262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291069254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291069270518.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291069287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291069297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291069278113.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": "73b16c26a0d24c7a841e4cbe5d0d7878_e168e3cd28c34489a32caa874dac0a2b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291071162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291071154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291071170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291071187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291071197417.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291071178113.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 pickup truck to the front of the ego vehicle, a white sedan to the back left of the ego vehicle, a white truck to the front of the ego vehicle, and a black SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1205.8,512.5>, <c2,CAM_BACK_LEFT,388.3,650.1>, <c3,CAM_FRONT,609.2,475.0>, and <c4,CAM_BACK,1057.5,511.8>."
            }
        ]
    },
    {
        "id": "73b16c26a0d24c7a841e4cbe5d0d7878_e168e3cd28c34489a32caa874dac0a2b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291071162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291071154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291071170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291071187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291071197417.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291071178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK_LEFT,388.3,650.1>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "73b16c26a0d24c7a841e4cbe5d0d7878_e168e3cd28c34489a32caa874dac0a2b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291071162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291071154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291071170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291071187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291071197417.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291071178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1205.8,512.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "73b16c26a0d24c7a841e4cbe5d0d7878_e168e3cd28c34489a32caa874dac0a2b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291071162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291071154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291071170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291071187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291071197417.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291071178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1205.8,512.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to accelerate and go ahead. The reason is that there is no safety issue, with a high probability."
            }
        ]
    },
    {
        "id": "73b16c26a0d24c7a841e4cbe5d0d7878_e168e3cd28c34489a32caa874dac0a2b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291071162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291071154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291071170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291071187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291071197417.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291071178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT,609.2,475.0>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "73b16c26a0d24c7a841e4cbe5d0d7878_e168e3cd28c34489a32caa874dac0a2b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291071162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291071154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291071170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291071187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291071197417.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291071178113.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, keep going at the same speed."
            }
        ]
    },
    {
        "id": "73b16c26a0d24c7a841e4cbe5d0d7878_e168e3cd28c34489a32caa874dac0a2b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291071162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291071154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291071170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291071187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291071197417.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291071178113.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": "66be189398d74681a8b8db4b7dd52259_0b0acd64d002424086e831814c7ec838_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487700162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487700154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487700170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487700187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487700197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487700178113.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 of the ego vehicle, a black SUV to the front right of the ego vehicle, a green truck to the back left of the ego vehicle, a silver SUV to the back of the ego vehicle, pedestrians crossing the road to the front of the ego vehicle, and a black traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,287.5,518.3>, <c2,CAM_FRONT_RIGHT,90.8,483.3>, <c3,CAM_BACK_LEFT,792.2,449.5>, <c4,CAM_BACK,867.5,624.2>, <c5,CAM_FRONT,1186.7,491.7>, and <c6,CAM_FRONT,828.1,337.2>."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_0b0acd64d002424086e831814c7ec838_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487700162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487700154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487700170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487700187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487700197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487700178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,287.5,518.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_0b0acd64d002424086e831814c7ec838_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487700162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487700154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487700170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487700187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487700197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487700178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,287.5,518.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_0b0acd64d002424086e831814c7ec838_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487700162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487700154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487700170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487700187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487700197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487700178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,287.5,518.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_0b0acd64d002424086e831814c7ec838_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487700162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487700154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487700170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487700187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487700197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487700178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,90.8,483.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_0b0acd64d002424086e831814c7ec838_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487700162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487700154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487700170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487700187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487700197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487700178113.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 brake gently to a stop."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_0b0acd64d002424086e831814c7ec838_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487700162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487700154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487700170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487700187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487700197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487700178113.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": "66be189398d74681a8b8db4b7dd52259_2595232f11dc4b4a8b5dfbc361a67b77_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487687262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487687254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487687270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487687287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487687297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487687278113.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 black SUV to the front right of the ego vehicle, a green truck to the back left of the ego vehicle, a silver SUV to the back of the ego vehicle, a red light to the front of the ego vehicle, and pedestrians crossing the road to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,467.5,500.8>, <c2,CAM_FRONT_RIGHT,0.0,477.5>, <c3,CAM_BACK_LEFT,812.0,408.3>, <c4,CAM_BACK,867.5,622.5>, <c5,CAM_FRONT,882.8,346.3>, and <c6,CAM_FRONT_RIGHT,166.9,513.3>."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_2595232f11dc4b4a8b5dfbc361a67b77_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487687262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487687254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487687270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487687287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487687297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487687278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,467.5,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_2595232f11dc4b4a8b5dfbc361a67b77_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487687262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487687254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487687270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487687287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487687297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487687278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,467.5,500.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_2595232f11dc4b4a8b5dfbc361a67b77_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487687262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487687254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487687270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487687287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487687297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487687278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,467.5,500.8>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_2595232f11dc4b4a8b5dfbc361a67b77_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487687262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487687254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487687270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487687287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487687297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487687278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,467.5,500.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_2595232f11dc4b4a8b5dfbc361a67b77_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487687262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487687254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487687270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487687287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487687297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487687278113.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 right, gently brake to a stop, brake suddenly."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_2595232f11dc4b4a8b5dfbc361a67b77_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487687262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487687254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487687270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487687287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487687297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487687278113.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": "66be189398d74681a8b8db4b7dd52259_19b73951e0e24e09a2a62562fb94b494_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487684262425.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487684254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487684270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487684287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487684297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487684278113.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 and green truck to the back left of the ego vehicle, a silver SUV to the back of the ego vehicle, a pedestrian wearing green clothes 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 <c1,CAM_BACK_LEFT,791.8,429.8>, <c2,CAM_BACK,867.5,622.5>, <c3,CAM_FRONT_RIGHT,315.2,500.0>, and <c4,CAM_FRONT,865.5,333.5>."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_19b73951e0e24e09a2a62562fb94b494_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487684262425.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487684254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487684270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487684287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487684297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487684278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,791.8,429.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_19b73951e0e24e09a2a62562fb94b494_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487684262425.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487684254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487684270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487684287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487684297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487684278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,791.8,429.8>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_19b73951e0e24e09a2a62562fb94b494_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487684262425.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487684254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487684270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487684287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487684297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487684278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,791.8,429.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_19b73951e0e24e09a2a62562fb94b494_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487684262425.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487684254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487684270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487684287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487684297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487684278113.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 gently to a stop."
            }
        ]
    },
    {
        "id": "66be189398d74681a8b8db4b7dd52259_19b73951e0e24e09a2a62562fb94b494_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487684262425.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487684254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487684270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487684287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487684297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487684278113.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": "bcb05cffb5814973a6cff4fbdca2b99b_80fa1ecff37d4e89ba5aed5e1953db0e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867211862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867211854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867211870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867211887600.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867211897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867211878739.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 right of the ego vehicle, a red car to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white commercial vehicle to the back of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,197.5,612.5>, <c2,CAM_FRONT,1305.0,549.2>, <c3,CAM_FRONT,175.0,535.8>, <c4,CAM_BACK,883.3,500.8>, and <c5,CAM_BACK,1413.2,686.2>."
            }
        ]
    },
    {
        "id": "bcb05cffb5814973a6cff4fbdca2b99b_80fa1ecff37d4e89ba5aed5e1953db0e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867211862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867211854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867211870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867211887600.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867211897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867211878739.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,883.3,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bcb05cffb5814973a6cff4fbdca2b99b_80fa1ecff37d4e89ba5aed5e1953db0e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867211862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867211854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867211870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867211887600.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867211897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867211878739.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,197.5,612.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bcb05cffb5814973a6cff4fbdca2b99b_80fa1ecff37d4e89ba5aed5e1953db0e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867211862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867211854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867211870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867211887600.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867211897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867211878739.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,197.5,612.5>? 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": "bcb05cffb5814973a6cff4fbdca2b99b_80fa1ecff37d4e89ba5aed5e1953db0e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867211862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867211854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867211870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867211887600.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867211897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867211878739.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,197.5,612.5>?"
            },
            {
                "from": "gpt",
                "value": "None."
            }
        ]
    },
    {
        "id": "bcb05cffb5814973a6cff4fbdca2b99b_80fa1ecff37d4e89ba5aed5e1953db0e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867211862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867211854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867211870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867211887600.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867211897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867211878739.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": "bcb05cffb5814973a6cff4fbdca2b99b_80fa1ecff37d4e89ba5aed5e1953db0e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867211862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867211854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867211870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867211887600.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867211897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867211878739.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": "bcb05cffb5814973a6cff4fbdca2b99b_a268a6c6620a4c42900e4e9beae95d73_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867215862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867215854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867215870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867215887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867215897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867215878113.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 of the ego vehicle, a black car to the back left of the ego vehicle, a blue sedan to the front of the ego vehicle, and a white van to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,868.3,505.8>, <c2,CAM_BACK_LEFT,1042.2,658.2>, <c3,CAM_FRONT,1519.1,565.8>, and <c4,CAM_FRONT_RIGHT,928.5,510.0>."
            }
        ]
    },
    {
        "id": "bcb05cffb5814973a6cff4fbdca2b99b_a268a6c6620a4c42900e4e9beae95d73_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867215862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867215854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867215870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867215887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867215897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867215878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,868.3,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bcb05cffb5814973a6cff4fbdca2b99b_a268a6c6620a4c42900e4e9beae95d73_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867215862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867215854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867215870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867215887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867215897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867215878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,868.3,505.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bcb05cffb5814973a6cff4fbdca2b99b_a268a6c6620a4c42900e4e9beae95d73_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867215862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867215854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867215870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867215887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867215897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867215878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,868.3,505.8>? 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": "bcb05cffb5814973a6cff4fbdca2b99b_a268a6c6620a4c42900e4e9beae95d73_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867215862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867215854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867215870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867215887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867215897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867215878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,868.3,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "bcb05cffb5814973a6cff4fbdca2b99b_a268a6c6620a4c42900e4e9beae95d73_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867215862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867215854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867215870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867215887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867215897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867215878113.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": "bcb05cffb5814973a6cff4fbdca2b99b_a268a6c6620a4c42900e4e9beae95d73_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867215862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867215854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867215870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867215887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867215897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867215878113.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": "bcb05cffb5814973a6cff4fbdca2b99b_aba1c04ff03a41d08308674f67569269_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867218012436.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867218004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867218021138.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867218037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867218047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867218028113.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 SUV to the back of the ego vehicle, a white sedan to the front right of the ego vehicle, a black sedan car to the front left of the ego vehicle, and a white pickup truck to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,350.8,614.2>, <c2,CAM_BACK,882.5,504.2>, <c3,CAM_FRONT_RIGHT,719.2,676.2>, <c4,CAM_FRONT_LEFT,1310.1,656.7>, and <c5,CAM_BACK_RIGHT,798.5,640.2>."
            }
        ]
    },
    {
        "id": "bcb05cffb5814973a6cff4fbdca2b99b_aba1c04ff03a41d08308674f67569269_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867218012436.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867218004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867218021138.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867218037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867218047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867218028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,882.5,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bcb05cffb5814973a6cff4fbdca2b99b_aba1c04ff03a41d08308674f67569269_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867218012436.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867218004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867218021138.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867218037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867218047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867218028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,350.8,614.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bcb05cffb5814973a6cff4fbdca2b99b_aba1c04ff03a41d08308674f67569269_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867218012436.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867218004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867218021138.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867218037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867218047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867218028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,350.8,614.2>? 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": "bcb05cffb5814973a6cff4fbdca2b99b_aba1c04ff03a41d08308674f67569269_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867218012436.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867218004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867218021138.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867218037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867218047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867218028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,882.5,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "bcb05cffb5814973a6cff4fbdca2b99b_aba1c04ff03a41d08308674f67569269_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867218012436.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867218004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867218021138.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867218037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867218047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867218028113.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."
            }
        ]
    },
    {
        "id": "bcb05cffb5814973a6cff4fbdca2b99b_aba1c04ff03a41d08308674f67569269_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867218012436.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867218004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867218021138.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867218037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867218047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867218028113.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": "b79d940da8df43d09ee972c2414ffeca_6ff876ce29ae498a8c5c993c282084c1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886098162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886098154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886098170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886098187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886098197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886098177893.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 white sedan to the back of the ego vehicle, a brown car to the back of the ego vehicle, and pedestrians on the roadside to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,920.8,522.5>, <c2,CAM_BACK,860.8,517.5>, <c3,CAM_BACK,221.5,617.7>, and <c4,CAM_FRONT,476.7,582.5>."
            }
        ]
    },
    {
        "id": "b79d940da8df43d09ee972c2414ffeca_6ff876ce29ae498a8c5c993c282084c1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886098162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886098154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886098170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886098187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886098197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886098177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_FRONT,476.7,582.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b79d940da8df43d09ee972c2414ffeca_6ff876ce29ae498a8c5c993c282084c1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886098162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886098154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886098170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886098187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886098197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886098177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,920.8,522.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b79d940da8df43d09ee972c2414ffeca_6ff876ce29ae498a8c5c993c282084c1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886098162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886098154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886098170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886098187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886098197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886098177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,920.8,522.5>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "b79d940da8df43d09ee972c2414ffeca_6ff876ce29ae498a8c5c993c282084c1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886098162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886098154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886098170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886098187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886098197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886098177893.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": "b79d940da8df43d09ee972c2414ffeca_6ff876ce29ae498a8c5c993c282084c1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886098162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886098154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886098170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886098187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886098197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886098177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,920.8,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Reversing and accelerating."
            }
        ]
    },
    {
        "id": "b79d940da8df43d09ee972c2414ffeca_6ff876ce29ae498a8c5c993c282084c1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886098162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886098154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886098170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886098187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886098197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886098177893.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": "2911b04ae82a45f386ad4f79457dd73f_abb3e79511af4570bbd6dd79472b3064_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656804162413.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656804154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656804170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656804187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656804197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656804178113.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 truck to the front of the ego vehicle, a blue-green truck to the front left of the ego vehicle, a white right turn arrow to the front right of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,979.2,463.3>, <c2,CAM_FRONT_LEFT,595.0,315.0>, <c3,CAM_FRONT_RIGHT,37.1,710.1>, and <c4,CAM_FRONT,749.8,425.5>."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_abb3e79511af4570bbd6dd79472b3064_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656804162413.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656804154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656804170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656804187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656804197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656804178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,979.2,463.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_abb3e79511af4570bbd6dd79472b3064_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656804162413.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656804154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656804170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656804187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656804197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656804178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,979.2,463.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_abb3e79511af4570bbd6dd79472b3064_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656804162413.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656804154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656804170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656804187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656804197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656804178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,979.2,463.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to decelerate gradually without braking because there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_abb3e79511af4570bbd6dd79472b3064_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656804162413.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656804154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656804170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656804187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656804197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656804178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,979.2,463.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight can lead to a collision with <c1,CAM_FRONT,979.2,463.3>."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_abb3e79511af4570bbd6dd79472b3064_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656804162413.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656804154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656804170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656804187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656804197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656804178113.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, or back up."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_abb3e79511af4570bbd6dd79472b3064_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656804162413.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656804154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656804170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656804187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656804197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656804178113.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 with normal speed."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_7c7aef72006949b68d4e4f88c46f79bb_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656796262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656796254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656796270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656796287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656796297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656796278113.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 blue truck to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a black pickup truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,613.3,502.5>, <c2,CAM_FRONT,797.5,466.7>, <c3,CAM_FRONT,150.8,620.8>, and <c4,CAM_BACK,1351.7,562.5>."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_7c7aef72006949b68d4e4f88c46f79bb_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656796262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656796254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656796270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656796287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656796297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656796278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,613.3,502.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_7c7aef72006949b68d4e4f88c46f79bb_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656796262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656796254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656796270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656796287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656796297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656796278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,613.3,502.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_7c7aef72006949b68d4e4f88c46f79bb_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656796262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656796254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656796270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656796287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656796297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656796278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,613.3,502.5>? 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."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_7c7aef72006949b68d4e4f88c46f79bb_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656796262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656796254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656796270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656796287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656796297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656796278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,613.3,502.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_7c7aef72006949b68d4e4f88c46f79bb_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656796262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656796254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656796270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656796287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656796297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656796278113.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": "2911b04ae82a45f386ad4f79457dd73f_7c7aef72006949b68d4e4f88c46f79bb_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656796262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656796254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656796270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656796287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656796297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656796278113.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": "2911b04ae82a45f386ad4f79457dd73f_ee7762eecb0b4f429f982fa74fc8531c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656807662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656807654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656807670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656807687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656807697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656807678113.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-gray sedan to the back of the ego vehicle, a black truck to the front of the ego vehicle, a white straight arrow to the front of the ego vehicle, a green light to the front of the ego vehicle, and a white background with red and black no left turn sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,834.2,520.0>, <c2,CAM_FRONT,870.8,479.2>, <c3,CAM_FRONT,807.5,658.7>, <c4,CAM_FRONT,541.0,412.5>, and <c5,CAM_FRONT,363.5,379.2>."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_ee7762eecb0b4f429f982fa74fc8531c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656807662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656807654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656807670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656807687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656807697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656807678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,834.2,520.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_ee7762eecb0b4f429f982fa74fc8531c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656807662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656807654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656807670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656807687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656807697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656807678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,834.2,520.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_ee7762eecb0b4f429f982fa74fc8531c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656807662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656807654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656807670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656807687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656807697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656807678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,834.2,520.0>? 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": "2911b04ae82a45f386ad4f79457dd73f_ee7762eecb0b4f429f982fa74fc8531c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656807662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656807654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656807670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656807687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656807697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656807678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,834.2,520.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "2911b04ae82a45f386ad4f79457dd73f_ee7762eecb0b4f429f982fa74fc8531c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656807662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656807654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656807670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656807687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656807697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656807678113.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": "2911b04ae82a45f386ad4f79457dd73f_ee7762eecb0b4f429f982fa74fc8531c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656807662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656807654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656807670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656807687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656807697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656807678113.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": "d7ebcbbd26d849b384c11bec8df28a9b_dae6a9febc3447b0999dec350965e67a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886051512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886051504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886051520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886051537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886051547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886051527893.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 white dress to the front of the ego vehicle, a silver white van to the front right of the ego vehicle, a person wearing a white shirt to the back of the ego vehicle, a pedestrian wearing a white shirt to the front of the ego vehicle, and a white arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,962.5,565.0>, <c2,CAM_FRONT_RIGHT,1080.8,611.7>, <c3,CAM_BACK,109.0,637.2>, <c4,CAM_FRONT,845.8,555.8>, and <c5,CAM_FRONT,863.9,624.3>."
            }
        ]
    },
    {
        "id": "d7ebcbbd26d849b384c11bec8df28a9b_dae6a9febc3447b0999dec350965e67a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886051512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886051504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886051520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886051537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886051547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886051527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,962.5,565.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d7ebcbbd26d849b384c11bec8df28a9b_dae6a9febc3447b0999dec350965e67a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886051512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886051504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886051520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886051537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886051547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886051527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,962.5,565.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d7ebcbbd26d849b384c11bec8df28a9b_dae6a9febc3447b0999dec350965e67a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886051512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886051504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886051520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886051537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886051547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886051527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,962.5,565.0>? 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": "d7ebcbbd26d849b384c11bec8df28a9b_dae6a9febc3447b0999dec350965e67a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886051512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886051504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886051520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886051537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886051547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886051527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,962.5,565.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,962.5,565.0>."
            }
        ]
    },
    {
        "id": "d7ebcbbd26d849b384c11bec8df28a9b_dae6a9febc3447b0999dec350965e67a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886051512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886051504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886051520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886051537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886051547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886051527893.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": "d7ebcbbd26d849b384c11bec8df28a9b_dae6a9febc3447b0999dec350965e67a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886051512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886051504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886051520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886051537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886051547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886051527893.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": "d7ebcbbd26d849b384c11bec8df28a9b_1e7cd9c4ba56457f945d1912f0e43e73_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886050012468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886050004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886050020352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886050037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886050047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886050027893.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 right of the ego vehicle, a man wearing a white shirt to the front right of the ego vehicle, a person wearing a blue shirt to the front of the ego vehicle, a right turn white arrow to the front of the ego vehicle, and a slow down sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,671.1,553.6>, <c2,CAM_FRONT_RIGHT,978.6,626.0>, <c3,CAM_FRONT,912.5,540.0>, <c4,CAM_FRONT,871.6,583.8>, and <c5,CAM_FRONT,493.0,225.9>."
            }
        ]
    },
    {
        "id": "d7ebcbbd26d849b384c11bec8df28a9b_1e7cd9c4ba56457f945d1912f0e43e73_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886050012468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886050004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886050020352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886050037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886050047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886050027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,978.6,626.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d7ebcbbd26d849b384c11bec8df28a9b_1e7cd9c4ba56457f945d1912f0e43e73_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886050012468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886050004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886050020352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886050037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886050047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886050027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,671.1,553.6> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d7ebcbbd26d849b384c11bec8df28a9b_1e7cd9c4ba56457f945d1912f0e43e73_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886050012468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886050004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886050020352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886050037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886050047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886050027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,671.1,553.6>? 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": "d7ebcbbd26d849b384c11bec8df28a9b_1e7cd9c4ba56457f945d1912f0e43e73_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886050012468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886050004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886050020352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886050037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886050047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886050027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,671.1,553.6>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "d7ebcbbd26d849b384c11bec8df28a9b_1e7cd9c4ba56457f945d1912f0e43e73_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886050012468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886050004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886050020352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886050037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886050047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886050027893.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, or decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "d7ebcbbd26d849b384c11bec8df28a9b_1e7cd9c4ba56457f945d1912f0e43e73_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886050012468.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886050004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886050020352.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886050037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886050047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886050027893.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": "8c84164e752a4ab69d039a07c898f7af_dcad7abc67e145a387b587df09a5dbeb_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034056162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034056154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034056170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034056187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034056197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034056177893.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 front right of the ego vehicle, a gray sedan to the front of the ego vehicle, and a gray minivan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,55.0,731.7>, <c2,CAM_FRONT,956.7,493.3>, and <c3,CAM_BACK,810.8,507.5>."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_dcad7abc67e145a387b587df09a5dbeb_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034056162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034056154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034056170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034056187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034056197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034056177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,55.0,731.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_dcad7abc67e145a387b587df09a5dbeb_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034056162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034056154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034056170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034056187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034056197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034056177893.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 <c1,CAM_FRONT_RIGHT,55.0,731.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,956.7,493.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,810.8,507.5>. The object is turning right, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_dcad7abc67e145a387b587df09a5dbeb_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034056162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034056154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034056170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034056187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034056197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034056177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,55.0,731.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_dcad7abc67e145a387b587df09a5dbeb_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034056162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034056154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034056170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034056187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034056197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034056177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,55.0,731.7>? 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": "8c84164e752a4ab69d039a07c898f7af_dcad7abc67e145a387b587df09a5dbeb_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034056162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034056154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034056170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034056187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034056197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034056177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,55.0,731.7>?"
            },
            {
                "from": "gpt",
                "value": "Change to the right lane."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_dcad7abc67e145a387b587df09a5dbeb_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034056162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034056154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034056170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034056187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034056197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034056177893.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."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_dcad7abc67e145a387b587df09a5dbeb_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034056162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034056154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034056170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034056187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034056197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034056177893.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": "8c84164e752a4ab69d039a07c898f7af_a3a5e3a50ec84f919f0150d883be8f77_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034062662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034062654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034062670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034062687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034062697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034062677893.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 cone bucket to the front right of the ego vehicle, a pedestrian pushing a stroller to the front left of the ego vehicle, and a yellow car to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1136.7,700.8>, <c2,CAM_FRONT_LEFT,180.8,717.5>, and <c3,CAM_FRONT_LEFT,475.0,500.0>."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_a3a5e3a50ec84f919f0150d883be8f77_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034062662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034062654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034062670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034062687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034062697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034062677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,180.8,717.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_a3a5e3a50ec84f919f0150d883be8f77_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034062662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034062654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034062670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034062687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034062697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034062677893.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 <c2,CAM_FRONT_LEFT,180.8,717.5>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_RIGHT,1136.7,700.8>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT_LEFT,475.0,500.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_a3a5e3a50ec84f919f0150d883be8f77_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034062662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034062654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034062670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034062687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034062697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034062677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1136.7,700.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_a3a5e3a50ec84f919f0150d883be8f77_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034062662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034062654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034062670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034062687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034062697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034062677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_FRONT_LEFT,180.8,717.5>? 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": "8c84164e752a4ab69d039a07c898f7af_a3a5e3a50ec84f919f0150d883be8f77_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034062662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034062654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034062670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034062687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034062697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034062677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,180.8,717.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_a3a5e3a50ec84f919f0150d883be8f77_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034062662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034062654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034062670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034062687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034062697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034062677893.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": "8c84164e752a4ab69d039a07c898f7af_a3a5e3a50ec84f919f0150d883be8f77_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034062662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034062654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034062670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034062687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034062697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034062677893.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": "8c84164e752a4ab69d039a07c898f7af_236b38ef8e1241feb9f3352c91f679d3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034052112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034052104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034052120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034052137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034052147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034052127893.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-purple car to the front of the ego vehicle, a bicycle to the back of the ego vehicle, and a white van to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,839.4,483.1>, <c2,CAM_BACK,239.1,618.8>, and <c3,CAM_FRONT_RIGHT,244.0,677.4>."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_236b38ef8e1241feb9f3352c91f679d3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034052112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034052104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034052120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034052137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034052147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034052127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,839.4,483.1>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_236b38ef8e1241feb9f3352c91f679d3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034052112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034052104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034052120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034052137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034052147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034052127893.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 <c3,CAM_FRONT_RIGHT,244.0,677.4>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,839.4,483.1>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,239.1,618.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_236b38ef8e1241feb9f3352c91f679d3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034052112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034052104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034052120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034052137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034052147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034052127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,839.4,483.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_236b38ef8e1241feb9f3352c91f679d3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034052112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034052104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034052120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034052137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034052147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034052127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,839.4,483.1>? 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": "8c84164e752a4ab69d039a07c898f7af_236b38ef8e1241feb9f3352c91f679d3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034052112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034052104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034052120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034052137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034052147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034052127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,839.4,483.1>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_236b38ef8e1241feb9f3352c91f679d3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034052112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034052104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034052120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034052137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034052147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034052127893.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 suddenly, or decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_236b38ef8e1241feb9f3352c91f679d3_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034052112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034052104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034052120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034052137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034052147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034052127893.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": "8c84164e752a4ab69d039a07c898f7af_1ccf6e588c084314afe26eb7f67e13be_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034058662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034058654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034058670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034058687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034058697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034058677893.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, an orange and white traffic cone to the front right of the ego vehicle, and a white commercial vehicle to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,777.5,530.0>, <c2,CAM_FRONT_RIGHT,270.0,597.5>, and <c3,CAM_FRONT_RIGHT,446.7,521.7>."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_1ccf6e588c084314afe26eb7f67e13be_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034058662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034058654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034058670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034058687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034058697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034058677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,777.5,530.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_1ccf6e588c084314afe26eb7f67e13be_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034058662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034058654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034058670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034058687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034058697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034058677893.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 <c2,CAM_FRONT_RIGHT,270.0,597.5>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_RIGHT,446.7,521.7>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,777.5,530.0>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_1ccf6e588c084314afe26eb7f67e13be_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034058662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034058654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034058670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034058687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034058697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034058677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,777.5,530.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_1ccf6e588c084314afe26eb7f67e13be_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034058662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034058654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034058670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034058687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034058697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034058677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,777.5,530.0>? 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": "8c84164e752a4ab69d039a07c898f7af_1ccf6e588c084314afe26eb7f67e13be_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034058662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034058654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034058670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034058687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034058697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034058677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,777.5,530.0>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,777.5,530.0>."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_1ccf6e588c084314afe26eb7f67e13be_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034058662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034058654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034058670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034058687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034058697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034058677893.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, and keep going at the same speed are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_1ccf6e588c084314afe26eb7f67e13be_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034058662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034058654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034058670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034058687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034058697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034058677893.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": "8c84164e752a4ab69d039a07c898f7af_ace5a5729dec49d59e0cfa0eb91ca016_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034049662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034049654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034049670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034049687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034049697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034049677893.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 bicycle to the front right of the ego vehicle, a bicycle to the front of the ego vehicle, and a silver van to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,852.5,698.3>, <c2,CAM_FRONT,1550.0,613.4>, and <c3,CAM_FRONT,907.5,503.3>."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_ace5a5729dec49d59e0cfa0eb91ca016_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034049662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034049654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034049670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034049687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034049697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034049677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,907.5,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_ace5a5729dec49d59e0cfa0eb91ca016_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034049662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034049654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034049670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034049687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034049697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034049677893.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 <c2,CAM_FRONT,1550.0,613.4>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c3,CAM_FRONT,907.5,503.3>. It is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_FRONT_RIGHT,852.5,698.3>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_ace5a5729dec49d59e0cfa0eb91ca016_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034049662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034049654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034049670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034049687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034049697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034049677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,852.5,698.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_ace5a5729dec49d59e0cfa0eb91ca016_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034049662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034049654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034049670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034049687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034049697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034049677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,852.5,698.3>? 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": "8c84164e752a4ab69d039a07c898f7af_ace5a5729dec49d59e0cfa0eb91ca016_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034049662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034049654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034049670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034049687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034049697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034049677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,852.5,698.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "8c84164e752a4ab69d039a07c898f7af_ace5a5729dec49d59e0cfa0eb91ca016_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034049662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034049654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034049670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034049687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034049697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034049677893.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": "8c84164e752a4ab69d039a07c898f7af_ace5a5729dec49d59e0cfa0eb91ca016_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034049662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034049654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034049670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034049687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034049697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034049677893.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": "ee909cb746e44174be804f26bc971efe_b578634fca894802b5b2e2699329062a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297363762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297363754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297363770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297363787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297363797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297363778113.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 pickup truck to the front of the ego vehicle, a white sedan car to the front of the ego vehicle, a white pickup truck to the back of the ego vehicle, a brown pickup truck to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1013.3,488.3>, <c2,CAM_FRONT,560.0,507.5>, <c3,CAM_BACK,872.5,462.5>, <c4,CAM_FRONT,771.7,512.5>, and <c5,CAM_FRONT,920.0,340.1>."
            }
        ]
    },
    {
        "id": "ee909cb746e44174be804f26bc971efe_b578634fca894802b5b2e2699329062a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297363762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297363754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297363770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297363787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297363797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297363778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,872.5,462.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ee909cb746e44174be804f26bc971efe_b578634fca894802b5b2e2699329062a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297363762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297363754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297363770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297363787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297363797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297363778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1013.3,488.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ee909cb746e44174be804f26bc971efe_b578634fca894802b5b2e2699329062a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297363762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297363754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297363770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297363787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297363797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297363778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1013.3,488.3>? 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": "ee909cb746e44174be804f26bc971efe_b578634fca894802b5b2e2699329062a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297363762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297363754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297363770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297363787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297363797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297363778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1013.3,488.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "ee909cb746e44174be804f26bc971efe_b578634fca894802b5b2e2699329062a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297363762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297363754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297363770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297363787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297363797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297363778113.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, and keep going at the same speed."
            }
        ]
    },
    {
        "id": "ee909cb746e44174be804f26bc971efe_b578634fca894802b5b2e2699329062a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297363762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297363754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297363770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297363787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297363797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297363778113.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": "ce2d6bdc33084dc1a2780f41f6740e06_66a96f442f66403a96bc448e8dda18ec_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112549112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112549104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112549120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112549137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112549147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112549127893.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 left of the ego vehicle, a white straight arrow to the front of the ego vehicle, and a black traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1056.7,429.2>, <c2,CAM_FRONT,668.9,703.1>, and <c3,CAM_FRONT,222.3,449.1>."
            }
        ]
    },
    {
        "id": "ce2d6bdc33084dc1a2780f41f6740e06_66a96f442f66403a96bc448e8dda18ec_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112549112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112549104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112549120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112549137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112549147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112549127893.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 <c2,CAM_FRONT,668.9,703.1>. The object is a traffic sign and the ego vehicle should continue at the same speed. Secondly, notice that <c3,CAM_FRONT,222.3,449.1>. The object is also a traffic sign and the ego vehicle should gradually decelerate until it stops. Thirdly, notice that <c1,CAM_FRONT_LEFT,1056.7,429.2>. The object is stationary and the ego vehicle should continue at the same speed."
            }
        ]
    },
    {
        "id": "ce2d6bdc33084dc1a2780f41f6740e06_66a96f442f66403a96bc448e8dda18ec_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112549112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112549104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112549120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112549137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112549147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112549127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1056.7,429.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ce2d6bdc33084dc1a2780f41f6740e06_66a96f442f66403a96bc448e8dda18ec_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112549112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112549104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112549120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112549137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112549147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112549127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1056.7,429.2>? 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": "ce2d6bdc33084dc1a2780f41f6740e06_66a96f442f66403a96bc448e8dda18ec_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112549112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112549104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112549120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112549137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112549147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112549127893.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, back up slightly offset to the right, and brake suddenly."
            }
        ]
    },
    {
        "id": "ce2d6bdc33084dc1a2780f41f6740e06_66a96f442f66403a96bc448e8dda18ec_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112549112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112549104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112549120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112549137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112549147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112549127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1056.7,429.2>?"
            },
            {
                "from": "gpt",
                "value": "Straight left turn uphill can lead to a collision with <c1,CAM_FRONT_LEFT,1056.7,429.2>."
            }
        ]
    },
    {
        "id": "ce2d6bdc33084dc1a2780f41f6740e06_66a96f442f66403a96bc448e8dda18ec_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112549112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112549104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112549120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112549137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112549147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112549127893.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 with normal speed."
            }
        ]
    },
    {
        "id": "ce2d6bdc33084dc1a2780f41f6740e06_49437d83c0ae4b4c8da2aad339bd7e1c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112540662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112540654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112540671104.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112540687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112540697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112540677893.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 person wearing a blue short-sleeved shirt to the back left of the ego vehicle, a red SUV to the back right of the ego vehicle, and a blue and white sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1337.5,527.5>, <c2,CAM_BACK_LEFT,1399.2,452.5>, <c3,CAM_BACK_RIGHT,988.3,562.5>, and <c4,CAM_FRONT_RIGHT,351.3,476.0>."
            }
        ]
    },
    {
        "id": "ce2d6bdc33084dc1a2780f41f6740e06_49437d83c0ae4b4c8da2aad339bd7e1c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112540662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112540654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112540671104.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112540687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112540697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112540677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1337.5,527.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ce2d6bdc33084dc1a2780f41f6740e06_49437d83c0ae4b4c8da2aad339bd7e1c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112540662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112540654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112540671104.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112540687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112540697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112540677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1337.5,527.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ce2d6bdc33084dc1a2780f41f6740e06_49437d83c0ae4b4c8da2aad339bd7e1c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112540662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112540654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112540671104.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112540687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112540697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112540677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1337.5,527.5>? 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": "ce2d6bdc33084dc1a2780f41f6740e06_49437d83c0ae4b4c8da2aad339bd7e1c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112540662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112540654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112540671104.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112540687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112540697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112540677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1337.5,527.5>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT,1337.5,527.5>."
            }
        ]
    },
    {
        "id": "ce2d6bdc33084dc1a2780f41f6740e06_49437d83c0ae4b4c8da2aad339bd7e1c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112540662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112540654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112540671104.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112540687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112540697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112540677893.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 right, slightly offset to the left, change to the right lane, or change to the left lane."
            }
        ]
    },
    {
        "id": "ce2d6bdc33084dc1a2780f41f6740e06_49437d83c0ae4b4c8da2aad339bd7e1c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112540662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112540654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112540671104.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112540687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112540697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112540677893.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": "126aa95f38b649fa857d48672c8ad808_71374b6b989e4000bfe6f5d70052c378_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.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 to the front left of the ego vehicle, a silver sedan to the front of the ego vehicle, a sedan to the back of the ego vehicle, and a pedestrian to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,578.3,561.7>, <c2,CAM_FRONT,889.2,520.0>, <c3,CAM_BACK,907.5,524.2>, and <c4,CAM_FRONT,112.5,505.8>."
            }
        ]
    },
    {
        "id": "126aa95f38b649fa857d48672c8ad808_71374b6b989e4000bfe6f5d70052c378_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,578.3,561.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "126aa95f38b649fa857d48672c8ad808_71374b6b989e4000bfe6f5d70052c378_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,578.3,561.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "126aa95f38b649fa857d48672c8ad808_71374b6b989e4000bfe6f5d70052c378_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,578.3,561.7>? 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": "126aa95f38b649fa857d48672c8ad808_71374b6b989e4000bfe6f5d70052c378_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,578.3,561.7>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "126aa95f38b649fa857d48672c8ad808_71374b6b989e4000bfe6f5d70052c378_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.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": "126aa95f38b649fa857d48672c8ad808_71374b6b989e4000bfe6f5d70052c378_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.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": "2dc89e0f9c6c4dbab908d341fab020c6_86f1edd07a2347b6a4c29f8c125dbe39_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279706862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279706854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279706870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279706887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279706897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279706877893.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 red car to the front left of the ego vehicle, and a blue sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1381.7,512.5>, <c2,CAM_FRONT_LEFT,1190.8,719.2>, and <c3,CAM_FRONT_RIGHT,919.2,666.7>."
            }
        ]
    },
    {
        "id": "2dc89e0f9c6c4dbab908d341fab020c6_86f1edd07a2347b6a4c29f8c125dbe39_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279706862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279706854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279706870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279706887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279706897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279706877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT_RIGHT,919.2,666.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2dc89e0f9c6c4dbab908d341fab020c6_86f1edd07a2347b6a4c29f8c125dbe39_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279706862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279706854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279706870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279706887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279706897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279706877893.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 <c2,CAM_FRONT_LEFT,1190.8,719.2>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c3,CAM_FRONT_RIGHT,919.2,666.7>. It is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_FRONT,1381.7,512.5>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "2dc89e0f9c6c4dbab908d341fab020c6_86f1edd07a2347b6a4c29f8c125dbe39_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279706862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279706854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279706870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279706887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279706897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279706877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1381.7,512.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2dc89e0f9c6c4dbab908d341fab020c6_86f1edd07a2347b6a4c29f8c125dbe39_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279706862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279706854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279706870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279706887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279706897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279706877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1381.7,512.5>? 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": "2dc89e0f9c6c4dbab908d341fab020c6_86f1edd07a2347b6a4c29f8c125dbe39_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279706862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279706854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279706870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279706887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279706897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279706877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1381.7,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "2dc89e0f9c6c4dbab908d341fab020c6_86f1edd07a2347b6a4c29f8c125dbe39_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279706862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279706854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279706870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279706887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279706897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279706877893.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": "2dc89e0f9c6c4dbab908d341fab020c6_86f1edd07a2347b6a4c29f8c125dbe39_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279706862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279706854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279706870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279706887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279706897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279706877893.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": "2dc89e0f9c6c4dbab908d341fab020c6_8034fcccce954b4ba926d5d23bcda7df_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279699862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279699854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279699870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279699887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279699897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279699877893.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 front of the ego vehicle, and a straight ahead road sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,991.7,546.7>, <c2,CAM_FRONT,326.7,500.8>, and <c3,CAM_FRONT,329.1,826.9>."
            }
        ]
    },
    {
        "id": "2dc89e0f9c6c4dbab908d341fab020c6_8034fcccce954b4ba926d5d23bcda7df_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279699862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279699854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279699870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279699887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279699897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279699877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,326.7,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2dc89e0f9c6c4dbab908d341fab020c6_8034fcccce954b4ba926d5d23bcda7df_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279699862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279699854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279699870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279699887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279699897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279699877893.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 <c3,CAM_FRONT,329.1,826.9>. It is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_FRONT,991.7,546.7>. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_FRONT,326.7,500.8>. It is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "2dc89e0f9c6c4dbab908d341fab020c6_8034fcccce954b4ba926d5d23bcda7df_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279699862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279699854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279699870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279699887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279699897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279699877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,991.7,546.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2dc89e0f9c6c4dbab908d341fab020c6_8034fcccce954b4ba926d5d23bcda7df_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279699862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279699854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279699870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279699887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279699897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279699877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,991.7,546.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn left, the reason is to avoid a collision, high."
            }
        ]
    },
    {
        "id": "2dc89e0f9c6c4dbab908d341fab020c6_8034fcccce954b4ba926d5d23bcda7df_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279699862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279699854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279699870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279699887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279699897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279699877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,991.7,546.7>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "2dc89e0f9c6c4dbab908d341fab020c6_8034fcccce954b4ba926d5d23bcda7df_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279699862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279699854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279699870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279699887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279699897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279699877893.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": "2dc89e0f9c6c4dbab908d341fab020c6_8034fcccce954b4ba926d5d23bcda7df_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279699862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279699854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279699870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279699887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279699897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279699877893.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": "ced236f5da704cbcb41249bb6ecc8b68_8221b2ffc6b741d29b230737c30dc966_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033678262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033678254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033678270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033678287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033678297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033678277893.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 right of the ego vehicle, a red car to the back of the ego vehicle, a yellow sedan car to the front of the ego vehicle, a blue and white sedan to the front right of the ego vehicle, and a yellow sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,945.0,627.5>, <c2,CAM_BACK,663.3,610.8>, <c3,CAM_FRONT,1259.2,600.0>, <c4,CAM_FRONT_RIGHT,137.5,635.8>, and <c5,CAM_FRONT,943.1,546.2>."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_8221b2ffc6b741d29b230737c30dc966_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033678262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033678254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033678270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033678287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033678297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033678277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,945.0,627.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_8221b2ffc6b741d29b230737c30dc966_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033678262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033678254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033678270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033678287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033678297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033678277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,945.0,627.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_8221b2ffc6b741d29b230737c30dc966_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033678262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033678254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033678270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033678287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033678297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033678277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,945.0,627.5>? 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": "ced236f5da704cbcb41249bb6ecc8b68_8221b2ffc6b741d29b230737c30dc966_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033678262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033678254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033678270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033678287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033678297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033678277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,945.0,627.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_8221b2ffc6b741d29b230737c30dc966_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033678262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033678254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033678270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033678287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033678297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033678277893.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": "ced236f5da704cbcb41249bb6ecc8b68_8221b2ffc6b741d29b230737c30dc966_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033678262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033678254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033678270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033678287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033678297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033678277893.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": "ced236f5da704cbcb41249bb6ecc8b68_8039886af4784ae6ae8c17c6ccdda218_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033676262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033676254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033676270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033676287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033676297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033676277893.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 front right of the ego vehicle, a black sedan to the front left of the ego vehicle, a red car to the back of the ego vehicle, a white sedan to the front left of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,876.7,586.7>, <c2,CAM_FRONT_LEFT,845.8,527.5>, <c3,CAM_BACK,657.0,620.0>, <c4,CAM_FRONT_LEFT,1076.7,530.8>, and <c5,CAM_FRONT,617.7,378.0>."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_8039886af4784ae6ae8c17c6ccdda218_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033676262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033676254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033676270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033676287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033676297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033676277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,876.7,586.7>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_8039886af4784ae6ae8c17c6ccdda218_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033676262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033676254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033676270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033676287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033676297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033676277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,876.7,586.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_8039886af4784ae6ae8c17c6ccdda218_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033676262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033676254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033676270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033676287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033676297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033676277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,876.7,586.7>? 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. The probability is high."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_8039886af4784ae6ae8c17c6ccdda218_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033676262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033676254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033676270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033676287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033676297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033676277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,876.7,586.7>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_8039886af4784ae6ae8c17c6ccdda218_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033676262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033676254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033676270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033676287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033676297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033676277893.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 right, slightly offset to the left are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_8039886af4784ae6ae8c17c6ccdda218_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033676262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033676254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033676270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033676287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033676297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033676277893.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": "ced236f5da704cbcb41249bb6ecc8b68_c90a43f0eae649f9a39e47faa5b8ecb2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033683762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033683754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033683770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033683787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033683797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033683777893.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 right of the ego vehicle, a black car to the back of the ego vehicle, and a blue and white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,602.5,637.5>, <c2,CAM_BACK,850.8,567.5>, and <c3,CAM_FRONT,1590.8,706.7>."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_c90a43f0eae649f9a39e47faa5b8ecb2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033683762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033683754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033683770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033683787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033683797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033683777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,602.5,637.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_c90a43f0eae649f9a39e47faa5b8ecb2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033683762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033683754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033683770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033683787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033683797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033683777893.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 <c3,CAM_FRONT,1590.8,706.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice <c1,CAM_FRONT_RIGHT,602.5,637.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c2,CAM_BACK,850.8,567.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_c90a43f0eae649f9a39e47faa5b8ecb2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033683762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033683754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033683770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033683787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033683797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033683777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,602.5,637.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_c90a43f0eae649f9a39e47faa5b8ecb2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033683762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033683754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033683770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033683787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033683797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033683777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,602.5,637.5>? 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": "ced236f5da704cbcb41249bb6ecc8b68_c90a43f0eae649f9a39e47faa5b8ecb2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033683762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033683754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033683770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033683787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033683797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033683777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,602.5,637.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_c90a43f0eae649f9a39e47faa5b8ecb2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033683762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033683754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033683770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033683787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033683797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033683777893.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."
            }
        ]
    },
    {
        "id": "ced236f5da704cbcb41249bb6ecc8b68_c90a43f0eae649f9a39e47faa5b8ecb2_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033683762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033683754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033683770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033683787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033683797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033683777893.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": "45275e709d4a4b0592d57850d8e8bd8d_5f81e1b2572d42ada134e007e304ae7b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487475162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487475154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487475170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487475187566.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487475197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487475178113.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 right of the ego vehicle, a person carrying a backpack to the back of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,300.0,548.3>, <c2,CAM_BACK,576.7,549.2>, and <c3,CAM_BACK,1510.0,558.3>."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_5f81e1b2572d42ada134e007e304ae7b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487475162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487475154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487475170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487475187566.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487475197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487475178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,1510.0,558.3>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_5f81e1b2572d42ada134e007e304ae7b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487475162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487475154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487475170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487475187566.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487475197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487475178113.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 <c1,CAM_FRONT_RIGHT,300.0,548.3>. The object is stationary, so the ego vehicle should remain stationary. Secondly, notice that <c2,CAM_BACK,576.7,549.2>. The object is stationary, so the ego vehicle should remain stationary. Thirdly, notice that <c3,CAM_BACK,1510.0,558.3>. The object is turning left, so the ego vehicle should remain stationary."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_5f81e1b2572d42ada134e007e304ae7b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487475162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487475154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487475170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487475187566.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487475197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487475178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,300.0,548.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_5f81e1b2572d42ada134e007e304ae7b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487475162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487475154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487475170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487475187566.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487475197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487475178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,300.0,548.3>? 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 maintain a safe distance, which is high."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_5f81e1b2572d42ada134e007e304ae7b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487475162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487475154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487475170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487475187566.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487475197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487475178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,300.0,548.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_5f81e1b2572d42ada134e007e304ae7b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487475162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487475154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487475170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487475187566.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487475197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487475178113.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 suddenly, brake gently to a stop."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_5f81e1b2572d42ada134e007e304ae7b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487475162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487475154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487475170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487475187566.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487475197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487475178113.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": "45275e709d4a4b0592d57850d8e8bd8d_a02918af3c62447dbb9de1d0e0c56aa6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.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 right of the ego vehicle, a black SUV to the front of the ego vehicle, a person wearing a black shirt to the back of the ego vehicle, a white pickup truck to the back of the ego vehicle, and a pedestrian crossing ahead to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,328.3,545.8>, <c2,CAM_FRONT,734.2,517.5>, <c3,CAM_BACK,595.0,555.8>, <c4,CAM_BACK,1127.3,599.9>, and <c5,CAM_FRONT_RIGHT,1067.2,396.3>."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_a02918af3c62447dbb9de1d0e0c56aa6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,1127.3,599.9>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_a02918af3c62447dbb9de1d0e0c56aa6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,328.3,545.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_a02918af3c62447dbb9de1d0e0c56aa6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,328.3,545.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_a02918af3c62447dbb9de1d0e0c56aa6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,328.3,545.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_a02918af3c62447dbb9de1d0e0c56aa6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.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 and continue at the same speed."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_a02918af3c62447dbb9de1d0e0c56aa6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.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": "45275e709d4a4b0592d57850d8e8bd8d_539e46e59fb943b0a1df493004907c1f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487464762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487464754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487464770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487464787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487464797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487464778113.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 right of the ego vehicle, a sitting person to the front of the ego vehicle, a white sedan to the back of the ego vehicle, and a white sedan car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1206.7,674.2>, <c2,CAM_FRONT,759.2,558.3>, <c3,CAM_BACK,834.5,521.7>, and <c4,CAM_BACK,1542.3,569.3>."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_539e46e59fb943b0a1df493004907c1f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487464762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487464754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487464770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487464787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487464797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487464778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,834.5,521.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_539e46e59fb943b0a1df493004907c1f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487464762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487464754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487464770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487464787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487464797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487464778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1206.7,674.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_539e46e59fb943b0a1df493004907c1f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487464762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487464754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487464770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487464787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487464797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487464778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1206.7,674.2>? 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": "45275e709d4a4b0592d57850d8e8bd8d_539e46e59fb943b0a1df493004907c1f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487464762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487464754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487464770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487464787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487464797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487464778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,759.2,558.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c2,CAM_FRONT,759.2,558.3>."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_539e46e59fb943b0a1df493004907c1f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487464762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487464754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487464770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487464787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487464797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487464778113.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": "45275e709d4a4b0592d57850d8e8bd8d_539e46e59fb943b0a1df493004907c1f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487464762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487464754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487464770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487464787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487464797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487464778113.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": "45275e709d4a4b0592d57850d8e8bd8d_6f1af6ba074246cfbfd2fd67351dc73b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487478162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487478154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487478170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487478187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487478197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487478178113.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 right of the ego vehicle, a person sitting by the roadside to the back of the ego vehicle, a white micro truck to the back of the ego vehicle, a black car to the front of the ego vehicle, and a pedestrian crossing sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,300.8,547.5>, <c2,CAM_BACK,577.5,551.7>, <c3,CAM_BACK,1139.1,592.6>, <c4,CAM_FRONT,322.0,640.9>, and <c5,CAM_FRONT_RIGHT,979.0,251.5>."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_6f1af6ba074246cfbfd2fd67351dc73b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487478162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487478154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487478170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487478187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487478197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487478178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,1139.1,592.6>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_6f1af6ba074246cfbfd2fd67351dc73b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487478162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487478154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487478170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487478187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487478197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487478178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,300.8,547.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_6f1af6ba074246cfbfd2fd67351dc73b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487478162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487478154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487478170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487478187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487478197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487478178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,300.8,547.5>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_6f1af6ba074246cfbfd2fd67351dc73b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487478162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487478154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487478170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487478187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487478197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487478178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,300.8,547.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_6f1af6ba074246cfbfd2fd67351dc73b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487478162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487478154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487478170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487478187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487478197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487478178113.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."
            }
        ]
    },
    {
        "id": "45275e709d4a4b0592d57850d8e8bd8d_6f1af6ba074246cfbfd2fd67351dc73b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487478162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487478154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487478170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487478187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487478197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487478178113.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": "02e484442a2f411b971edcf96ebbe885_33292db2389948818ea680a50bea062c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932262012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932262004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932262020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932262037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932262047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932262027893.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 silver sedan to the back of the ego vehicle, a blue van to the front of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,348.3,688.3>, <c2,CAM_BACK,903.3,698.3>, <c3,CAM_FRONT,802.7,509.2>, and <c4,CAM_FRONT,517.3,350.2>."
            }
        ]
    },
    {
        "id": "02e484442a2f411b971edcf96ebbe885_33292db2389948818ea680a50bea062c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932262012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932262004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932262020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932262037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932262047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932262027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,348.3,688.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "02e484442a2f411b971edcf96ebbe885_33292db2389948818ea680a50bea062c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932262012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932262004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932262020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932262037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932262047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932262027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,348.3,688.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "02e484442a2f411b971edcf96ebbe885_33292db2389948818ea680a50bea062c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932262012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932262004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932262020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932262037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932262047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932262027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,348.3,688.3>? 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": "02e484442a2f411b971edcf96ebbe885_33292db2389948818ea680a50bea062c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932262012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932262004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932262020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932262037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932262047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932262027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,348.3,688.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "02e484442a2f411b971edcf96ebbe885_33292db2389948818ea680a50bea062c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932262012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932262004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932262020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932262037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932262047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932262027893.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": "02e484442a2f411b971edcf96ebbe885_33292db2389948818ea680a50bea062c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932262012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932262004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932262020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932262037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932262047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932262027893.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": "5af1f9db65e04747aa3ca8364037c49b_251538e260f2406ca27a34519fc4a125_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985706762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985706754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985706770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985706787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985706797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985706777893.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 woman wearing a black jacket to the front right of the ego vehicle, a man wearing a blue shirt to the front left of the ego vehicle, and a man wearing gray pants to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,905.8,542.5>, <c2,CAM_FRONT_LEFT,558.3,500.0>, and <c3,CAM_BACK,1598.3,590.0>."
            }
        ]
    },
    {
        "id": "5af1f9db65e04747aa3ca8364037c49b_251538e260f2406ca27a34519fc4a125_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985706762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985706754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985706770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985706787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985706797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985706777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,905.8,542.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5af1f9db65e04747aa3ca8364037c49b_251538e260f2406ca27a34519fc4a125_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985706762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985706754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985706770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985706787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985706797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985706777893.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 <c2,CAM_FRONT_LEFT,558.3,500.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_RIGHT,905.8,542.5>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,1598.3,590.0>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "5af1f9db65e04747aa3ca8364037c49b_251538e260f2406ca27a34519fc4a125_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985706762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985706754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985706770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985706787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985706797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985706777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,905.8,542.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5af1f9db65e04747aa3ca8364037c49b_251538e260f2406ca27a34519fc4a125_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985706762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985706754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985706770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985706787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985706797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985706777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,905.8,542.5>? 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": "5af1f9db65e04747aa3ca8364037c49b_251538e260f2406ca27a34519fc4a125_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985706762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985706754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985706770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985706787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985706797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985706777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,905.8,542.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "5af1f9db65e04747aa3ca8364037c49b_251538e260f2406ca27a34519fc4a125_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985706762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985706754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985706770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985706787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985706797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985706777893.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": "5af1f9db65e04747aa3ca8364037c49b_251538e260f2406ca27a34519fc4a125_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985706762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985706754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985706770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985706787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985706797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985706777893.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": "5af1f9db65e04747aa3ca8364037c49b_77fb46bcf3f9492a9dd4a943451d9001_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985712762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985712754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985712770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985712787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985712797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985712777893.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 right of the ego vehicle, a bus to the back of the ego vehicle, and a silver sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1185.8,605.0>, <c2,CAM_BACK,336.7,527.5>, and <c3,CAM_BACK_RIGHT,79.9,632.8>."
            }
        ]
    },
    {
        "id": "5af1f9db65e04747aa3ca8364037c49b_77fb46bcf3f9492a9dd4a943451d9001_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985712762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985712754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985712770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985712787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985712797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985712777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,1185.8,605.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5af1f9db65e04747aa3ca8364037c49b_77fb46bcf3f9492a9dd4a943451d9001_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985712762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985712754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985712770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985712787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985712797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985712777893.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 <c1,CAM_FRONT_RIGHT,1185.8,605.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_BACK_RIGHT,79.9,632.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK,336.7,527.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "5af1f9db65e04747aa3ca8364037c49b_77fb46bcf3f9492a9dd4a943451d9001_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985712762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985712754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985712770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985712787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985712797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985712777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1185.8,605.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5af1f9db65e04747aa3ca8364037c49b_77fb46bcf3f9492a9dd4a943451d9001_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985712762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985712754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985712770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985712787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985712797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985712777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1185.8,605.0>? 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": "5af1f9db65e04747aa3ca8364037c49b_77fb46bcf3f9492a9dd4a943451d9001_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985712762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985712754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985712770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985712787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985712797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985712777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1185.8,605.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "5af1f9db65e04747aa3ca8364037c49b_77fb46bcf3f9492a9dd4a943451d9001_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985712762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985712754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985712770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985712787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985712797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985712777893.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, accelerate and go ahead, brake suddenly."
            }
        ]
    },
    {
        "id": "5af1f9db65e04747aa3ca8364037c49b_77fb46bcf3f9492a9dd4a943451d9001_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985712762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985712754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985712770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985712787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985712797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985712777893.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": "36fbee38a28543ea9e27a67d64e1dee4_d1efc32b92154428b0385544eb888d14_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112757912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112757904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112757920345.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112757937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112757947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112757927893.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 right of the ego vehicle, pedestrians preparing to cross the road to the front left of the ego vehicle, a white sedan to the front right of the ego vehicle, and a left turn arrow to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1080.0,545.8>, <c3,CAM_FRONT_LEFT,1280.0,537.5>, <c4,CAM_FRONT_RIGHT,848.3,521.7>, and <c2,CAM_BACK,947.0,728.6>."
            }
        ]
    },
    {
        "id": "36fbee38a28543ea9e27a67d64e1dee4_d1efc32b92154428b0385544eb888d14_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112757912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112757904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112757920345.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112757937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112757947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112757927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,1080.0,545.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "36fbee38a28543ea9e27a67d64e1dee4_d1efc32b92154428b0385544eb888d14_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112757912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112757904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112757920345.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112757937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112757947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112757927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1080.0,545.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "36fbee38a28543ea9e27a67d64e1dee4_d1efc32b92154428b0385544eb888d14_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112757912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112757904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112757920345.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112757937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112757947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112757927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1080.0,545.8>? 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": "36fbee38a28543ea9e27a67d64e1dee4_d1efc32b92154428b0385544eb888d14_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112757912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112757904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112757920345.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112757937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112757947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112757927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1080.0,545.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "36fbee38a28543ea9e27a67d64e1dee4_d1efc32b92154428b0385544eb888d14_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112757912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112757904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112757920345.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112757937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112757947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112757927893.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, and decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "36fbee38a28543ea9e27a67d64e1dee4_d1efc32b92154428b0385544eb888d14_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112757912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112757904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112757920345.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112757937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112757947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112757927893.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": "36fbee38a28543ea9e27a67d64e1dee4_93870a07f04b4bafb6aeeddc859cd32a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112745662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112745654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112745670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112745687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112745697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112745677893.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 truck to the front of the ego vehicle, a yellow taxi to the front of the ego vehicle, a yellow commercial vehicle to the back right of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1435.8,460.0>, <c2,CAM_FRONT,1146.7,512.5>, <c3,CAM_BACK_RIGHT,1220.0,635.0>, and <c4,CAM_FRONT,951.7,474.2>."
            }
        ]
    },
    {
        "id": "36fbee38a28543ea9e27a67d64e1dee4_93870a07f04b4bafb6aeeddc859cd32a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112745662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112745654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112745670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112745687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112745697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112745677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK_RIGHT,1220.0,635.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "36fbee38a28543ea9e27a67d64e1dee4_93870a07f04b4bafb6aeeddc859cd32a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112745662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112745654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112745670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112745687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112745697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112745677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1435.8,460.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "36fbee38a28543ea9e27a67d64e1dee4_93870a07f04b4bafb6aeeddc859cd32a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112745662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112745654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112745670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112745687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112745697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112745677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1435.8,460.0>? 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": "36fbee38a28543ea9e27a67d64e1dee4_93870a07f04b4bafb6aeeddc859cd32a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112745662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112745654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112745670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112745687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112745697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112745677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1435.8,460.0>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "36fbee38a28543ea9e27a67d64e1dee4_93870a07f04b4bafb6aeeddc859cd32a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112745662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112745654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112745670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112745687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112745697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112745677893.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": "36fbee38a28543ea9e27a67d64e1dee4_93870a07f04b4bafb6aeeddc859cd32a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112745662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112745654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112745670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112745687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112745697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112745677893.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": "240d15482599449a9bd0432fbfa688ab_e154fa0b72ef4a428a17b76e5a8cba6c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.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 white shorts to the front left of the ego vehicle, an orange bus to the front of the ego vehicle, a blue sedan to the back of the ego vehicle, and a blue sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1004.7,515.8>, <c2,CAM_FRONT,149.8,446.4>, <c3,CAM_BACK,707.5,559.2>, and <c4,CAM_FRONT_RIGHT,185.6,522.5>."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_e154fa0b72ef4a428a17b76e5a8cba6c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1004.7,515.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_e154fa0b72ef4a428a17b76e5a8cba6c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1004.7,515.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_e154fa0b72ef4a428a17b76e5a8cba6c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1004.7,515.8>? 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": "240d15482599449a9bd0432fbfa688ab_e154fa0b72ef4a428a17b76e5a8cba6c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1004.7,515.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_e154fa0b72ef4a428a17b76e5a8cba6c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.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": "240d15482599449a9bd0432fbfa688ab_e154fa0b72ef4a428a17b76e5a8cba6c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.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 slowly."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_29063b77e904427bac4a4e769c06546d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985430112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985430104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985430120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985430137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985430147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985430127893.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 silver sedan to the front of the ego vehicle, a red and white stop sign to the front left of the ego vehicle, a silver business car to the front right of the ego vehicle, a silver mini car to the front of the ego vehicle, and a blue sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,734.8,562.5>, <c2,CAM_FRONT,1373.7,613.3>, <c3,CAM_FRONT_LEFT,323.3,535.0>, <c4,CAM_FRONT_RIGHT,848.1,541.6>, <c5,CAM_FRONT,905.0,530.0>, and <c6,CAM_BACK_RIGHT,1334.2,670.8>."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_29063b77e904427bac4a4e769c06546d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985430112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985430104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985430120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985430137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985430147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985430127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,734.8,562.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_29063b77e904427bac4a4e769c06546d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985430112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985430104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985430120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985430137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985430147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985430127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,734.8,562.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_29063b77e904427bac4a4e769c06546d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985430112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985430104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985430120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985430137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985430147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985430127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,734.8,562.5>? 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": "240d15482599449a9bd0432fbfa688ab_29063b77e904427bac4a4e769c06546d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985430112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985430104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985430120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985430137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985430147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985430127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,734.8,562.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_29063b77e904427bac4a4e769c06546d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985430112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985430104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985430120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985430137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985430147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985430127893.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."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_29063b77e904427bac4a4e769c06546d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985430112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985430104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985430120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985430137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985430147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985430127893.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": "240d15482599449a9bd0432fbfa688ab_cb73fc78ec7c4b69a46650782672410b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985438612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985438604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985438620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985438637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985438647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985438627893.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 red traffic cone to the front of the ego vehicle, and a blue sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,310.8,505.0>, <c2,CAM_FRONT,1307.5,535.0>, and <c3,CAM_BACK,844.7,530.6>."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_cb73fc78ec7c4b69a46650782672410b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985438612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985438604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985438620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985438637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985438647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985438627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,844.7,530.6>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_cb73fc78ec7c4b69a46650782672410b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985438612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985438604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985438620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985438637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985438647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985438627893.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 <c2,CAM_FRONT,1307.5,535.0>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_FRONT,310.8,505.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c3,CAM_BACK,844.7,530.6>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_cb73fc78ec7c4b69a46650782672410b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985438612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985438604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985438620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985438637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985438647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985438627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,310.8,505.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_cb73fc78ec7c4b69a46650782672410b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985438612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985438604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985438620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985438637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985438647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985438627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,310.8,505.0>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_cb73fc78ec7c4b69a46650782672410b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985438612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985438604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985438620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985438637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985438647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985438627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,310.8,505.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_cb73fc78ec7c4b69a46650782672410b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985438612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985438604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985438620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985438637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985438647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985438627893.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": "240d15482599449a9bd0432fbfa688ab_cb73fc78ec7c4b69a46650782672410b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985438612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985438604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985438620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985438637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985438647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985438627893.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": "240d15482599449a9bd0432fbfa688ab_518722572a0c4e8899d77e392afbadcb_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985431112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985431104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985431120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985431137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985431147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985431127893.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 white sedan to the front right of the ego vehicle, a gray sedan to the back right of the ego vehicle, a white sedan to the front of the ego vehicle, and a road sign to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,838.8,574.1>, <c2,CAM_FRONT_RIGHT,478.1,704.2>, <c3,CAM_BACK_RIGHT,1065.0,500.8>, <c4,CAM_FRONT,864.2,547.5>, and <c5,CAM_FRONT_LEFT,1409.3,505.4>."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_518722572a0c4e8899d77e392afbadcb_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985431112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985431104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985431120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985431137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985431147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985431127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,838.8,574.1>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_518722572a0c4e8899d77e392afbadcb_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985431112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985431104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985431120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985431137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985431147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985431127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,838.8,574.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_518722572a0c4e8899d77e392afbadcb_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985431112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985431104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985431120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985431137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985431147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985431127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,838.8,574.1>? 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": "240d15482599449a9bd0432fbfa688ab_518722572a0c4e8899d77e392afbadcb_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985431112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985431104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985431120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985431137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985431147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985431127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,838.8,574.1>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_518722572a0c4e8899d77e392afbadcb_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985431112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985431104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985431120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985431137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985431147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985431127893.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, keep going at the same speed, slightly offset to the left."
            }
        ]
    },
    {
        "id": "240d15482599449a9bd0432fbfa688ab_518722572a0c4e8899d77e392afbadcb_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985431112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985431104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985431120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985431137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985431147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985431127893.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": "43d5f10c855048b9963c9eb288a8a001_2c9c153c59bc4ce597797b99ff4d3fe4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291152112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291152104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291152120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291152137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291152147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291152128113.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 white sedan to the front of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,885.0,501.7>, <c2,CAM_FRONT,615.0,486.7>, and <c3,CAM_FRONT,357.5,491.7>."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_2c9c153c59bc4ce597797b99ff4d3fe4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291152112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291152104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291152120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291152137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291152147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291152128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,885.0,501.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_2c9c153c59bc4ce597797b99ff4d3fe4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291152112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291152104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291152120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291152137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291152147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291152128113.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 <c3,CAM_FRONT,357.5,491.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice <c2,CAM_FRONT,615.0,486.7>. The object is turning left, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c1,CAM_BACK,885.0,501.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_2c9c153c59bc4ce597797b99ff4d3fe4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291152112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291152104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291152120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291152137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291152147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291152128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,885.0,501.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_2c9c153c59bc4ce597797b99ff4d3fe4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291152112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291152104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291152120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291152137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291152147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291152128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,885.0,501.7>? 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": "43d5f10c855048b9963c9eb288a8a001_2c9c153c59bc4ce597797b99ff4d3fe4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291152112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291152104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291152120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291152137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291152147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291152128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,885.0,501.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_2c9c153c59bc4ce597797b99ff4d3fe4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291152112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291152104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291152120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291152137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291152147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291152128113.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": "43d5f10c855048b9963c9eb288a8a001_2c9c153c59bc4ce597797b99ff4d3fe4_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291152112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291152104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291152120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291152137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291152147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291152128113.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": "43d5f10c855048b9963c9eb288a8a001_175b2d0bd27f421099f81a13678f828d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291144263266.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291144254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291144270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291144287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291144297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291144278113.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 truck to the front of the ego vehicle, and a gray sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,693.3,467.5>, <c2,CAM_FRONT,419.2,492.5>, and <c3,CAM_BACK,653.4,498.1>."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_175b2d0bd27f421099f81a13678f828d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291144263266.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291144254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291144270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291144287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291144297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291144278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,693.3,467.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_175b2d0bd27f421099f81a13678f828d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291144263266.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291144254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291144270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291144287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291144297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291144278113.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 <c2,CAM_FRONT,419.2,492.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,693.3,467.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,653.4,498.1>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_175b2d0bd27f421099f81a13678f828d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291144263266.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291144254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291144270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291144287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291144297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291144278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,693.3,467.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_175b2d0bd27f421099f81a13678f828d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291144263266.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291144254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291144270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291144287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291144297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291144278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,693.3,467.5>? 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 is high."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_175b2d0bd27f421099f81a13678f828d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291144263266.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291144254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291144270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291144287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291144297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291144278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,693.3,467.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_175b2d0bd27f421099f81a13678f828d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291144263266.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291144254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291144270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291144287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291144297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291144278113.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 left."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_175b2d0bd27f421099f81a13678f828d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291144263266.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291144254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291144270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291144287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291144297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291144278113.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": "43d5f10c855048b9963c9eb288a8a001_bea8b66e0133499284b57f8e1e6e0953_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291155162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291155154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291155170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291155187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291155197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291155178113.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 sedan to the front of the ego vehicle, and a silver microcar to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,881.7,506.7>, <c2,CAM_FRONT,520.0,498.3>, and <c3,CAM_FRONT_LEFT,1351.7,490.0>."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_bea8b66e0133499284b57f8e1e6e0953_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291155162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291155154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291155170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291155187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291155197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291155178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,881.7,506.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_bea8b66e0133499284b57f8e1e6e0953_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291155162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291155154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291155170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291155187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291155197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291155178113.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 <c3,CAM_FRONT_LEFT,1351.7,490.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c2,CAM_FRONT,520.0,498.3>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c1,CAM_BACK,881.7,506.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_bea8b66e0133499284b57f8e1e6e0953_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291155162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291155154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291155170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291155187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291155197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291155178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,881.7,506.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_bea8b66e0133499284b57f8e1e6e0953_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291155162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291155154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291155170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291155187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291155197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291155178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,881.7,506.7>? 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": "43d5f10c855048b9963c9eb288a8a001_bea8b66e0133499284b57f8e1e6e0953_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291155162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291155154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291155170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291155187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291155197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291155178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,881.7,506.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_bea8b66e0133499284b57f8e1e6e0953_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291155162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291155154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291155170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291155187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291155197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291155178113.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; brake gently to a stop."
            }
        ]
    },
    {
        "id": "43d5f10c855048b9963c9eb288a8a001_bea8b66e0133499284b57f8e1e6e0953_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291155162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291155154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291155170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291155187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291155197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291155178113.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": "94f224a2a36c4bbbab59120cc6c31f6e_4d3d5e29b99a4354b9f84936222b6b29_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114310612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114310604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114310620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114310637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114310647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114310627893.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 right of the ego vehicle, a white SUV to the front of the ego vehicle, and a person riding a motorcycle to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1415.5,704.2>, <c2,CAM_FRONT,1257.5,545.8>, and <c3,CAM_FRONT_RIGHT,311.7,667.5>."
            }
        ]
    },
    {
        "id": "94f224a2a36c4bbbab59120cc6c31f6e_4d3d5e29b99a4354b9f84936222b6b29_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114310612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114310604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114310620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114310637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114310647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114310627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,1415.5,704.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "94f224a2a36c4bbbab59120cc6c31f6e_4d3d5e29b99a4354b9f84936222b6b29_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114310612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114310604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114310620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114310637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114310647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114310627893.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 <c3,CAM_FRONT_RIGHT,311.7,667.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,1257.5,545.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK_RIGHT,1415.5,704.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "94f224a2a36c4bbbab59120cc6c31f6e_4d3d5e29b99a4354b9f84936222b6b29_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114310612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114310604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114310620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114310637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114310647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114310627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1415.5,704.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "94f224a2a36c4bbbab59120cc6c31f6e_4d3d5e29b99a4354b9f84936222b6b29_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114310612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114310604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114310620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114310637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114310647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114310627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1415.5,704.2>? 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": "94f224a2a36c4bbbab59120cc6c31f6e_4d3d5e29b99a4354b9f84936222b6b29_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114310612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114310604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114310620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114310637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114310647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114310627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,1415.5,704.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "94f224a2a36c4bbbab59120cc6c31f6e_4d3d5e29b99a4354b9f84936222b6b29_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114310612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114310604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114310620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114310637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114310647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114310627893.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": "94f224a2a36c4bbbab59120cc6c31f6e_4d3d5e29b99a4354b9f84936222b6b29_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114310612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114310604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114310620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114310637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114310647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114310627893.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": "94f224a2a36c4bbbab59120cc6c31f6e_d23fe85a67d249ae8967dea3782634d1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114309612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114309604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114309620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114309637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114309647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114309627893.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 brown truck to the back right of the ego vehicle, a silver sedan to the front of the ego vehicle, a person riding a black motorcycle to the front of the ego vehicle, and a woman wearing blue jeans to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1101.7,589.2>, <c2,CAM_FRONT,1545.8,620.8>, <c3,CAM_FRONT,1046.7,517.5>, and <c4,CAM_FRONT_RIGHT,949.2,591.7>."
            }
        ]
    },
    {
        "id": "94f224a2a36c4bbbab59120cc6c31f6e_d23fe85a67d249ae8967dea3782634d1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114309612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114309604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114309620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114309637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114309647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114309627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1545.8,620.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "94f224a2a36c4bbbab59120cc6c31f6e_d23fe85a67d249ae8967dea3782634d1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114309612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114309604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114309620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114309637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114309647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114309627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1101.7,589.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "94f224a2a36c4bbbab59120cc6c31f6e_d23fe85a67d249ae8967dea3782634d1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114309612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114309604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114309620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114309637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114309647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114309627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1101.7,589.2>? 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": "94f224a2a36c4bbbab59120cc6c31f6e_d23fe85a67d249ae8967dea3782634d1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114309612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114309604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114309620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114309637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114309647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114309627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,1545.8,620.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "94f224a2a36c4bbbab59120cc6c31f6e_d23fe85a67d249ae8967dea3782634d1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114309612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114309604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114309620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114309637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114309647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114309627893.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": "94f224a2a36c4bbbab59120cc6c31f6e_d23fe85a67d249ae8967dea3782634d1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114309612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114309604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114309620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114309637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114309647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114309627893.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": "8461c1125eaf46c7abaf4ee18e8c4ee6_74f728c7d2804645b8c281c4ef6ad2e9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932022412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932022404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932022422479.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932022437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932022447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932022427893.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 pedestrian wearing a green top to the back right of the ego vehicle, a green sign to the front of the ego vehicle, and a blue and white sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,844.2,619.2>, <c2,CAM_BACK_RIGHT,298.3,678.3>, <c3,CAM_FRONT,229.7,440.5>, and <c4,CAM_FRONT_RIGHT,448.7,519.0>."
            }
        ]
    },
    {
        "id": "8461c1125eaf46c7abaf4ee18e8c4ee6_74f728c7d2804645b8c281c4ef6ad2e9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932022412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932022404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932022422479.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932022437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932022447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932022427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,844.2,619.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8461c1125eaf46c7abaf4ee18e8c4ee6_74f728c7d2804645b8c281c4ef6ad2e9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932022412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932022404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932022422479.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932022437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932022447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932022427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,844.2,619.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8461c1125eaf46c7abaf4ee18e8c4ee6_74f728c7d2804645b8c281c4ef6ad2e9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932022412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932022404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932022422479.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932022437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932022447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932022427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,844.2,619.2>? 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": "8461c1125eaf46c7abaf4ee18e8c4ee6_74f728c7d2804645b8c281c4ef6ad2e9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932022412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932022404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932022422479.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932022437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932022447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932022427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,844.2,619.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "8461c1125eaf46c7abaf4ee18e8c4ee6_74f728c7d2804645b8c281c4ef6ad2e9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932022412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932022404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932022422479.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932022437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932022447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932022427893.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": "8461c1125eaf46c7abaf4ee18e8c4ee6_74f728c7d2804645b8c281c4ef6ad2e9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932022412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932022404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932022422479.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932022437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932022447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932022427893.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": "cd1a8954ff904333bb13fa1a6ee526fd_33d3ace0ff7b43ae9b9f5fca23741a6a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114931662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114931654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114931670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114931687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114931697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114931677893.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 crossing the road to the front of the ego vehicle, a man wearing a black shirt to the back of the ego vehicle, a woman wearing a white shirt to the front of the ego vehicle, a woman wearing a gray jacket to the back left of the ego vehicle, a white sedan 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 <c1,CAM_FRONT,274.2,544.2>, <c2,CAM_BACK,1308.3,676.7>, <c3,CAM_FRONT,1155.0,506.7>, <c4,CAM_BACK_LEFT,259.2,634.2>, <c5,CAM_FRONT_LEFT,450.0,517.5>, and <c6,CAM_FRONT,774.9,583.2>."
            }
        ]
    },
    {
        "id": "cd1a8954ff904333bb13fa1a6ee526fd_33d3ace0ff7b43ae9b9f5fca23741a6a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114931662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114931654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114931670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114931687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114931697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114931677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,274.2,544.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cd1a8954ff904333bb13fa1a6ee526fd_33d3ace0ff7b43ae9b9f5fca23741a6a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114931662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114931654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114931670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114931687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114931697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114931677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,274.2,544.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cd1a8954ff904333bb13fa1a6ee526fd_33d3ace0ff7b43ae9b9f5fca23741a6a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114931662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114931654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114931670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114931687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114931697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114931677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,274.2,544.2>? 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": "cd1a8954ff904333bb13fa1a6ee526fd_33d3ace0ff7b43ae9b9f5fca23741a6a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114931662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114931654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114931670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114931687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114931697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114931677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,274.2,544.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "cd1a8954ff904333bb13fa1a6ee526fd_33d3ace0ff7b43ae9b9f5fca23741a6a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114931662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114931654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114931670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114931687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114931697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114931677893.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 suddenly, brake gently to stop."
            }
        ]
    },
    {
        "id": "cd1a8954ff904333bb13fa1a6ee526fd_33d3ace0ff7b43ae9b9f5fca23741a6a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114931662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114931654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114931670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114931687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114931697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114931677893.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": "cd1a8954ff904333bb13fa1a6ee526fd_a107b3f5e954436db06ddf9000dfeea4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114919512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114919504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114919520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114919537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114919547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114919527893.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 to the front of the ego vehicle, a stationary pedestrian to the front of the ego vehicle, a silver sedan to the front right of the ego vehicle, a pedestrian to the back of the ego vehicle, and a pedestrian to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1039.2,488.3>, <c2,CAM_FRONT,905.0,515.0>, <c3,CAM_FRONT_RIGHT,1372.5,580.8>, <c4,CAM_BACK,259.2,515.8>, and <c5,CAM_FRONT_LEFT,1364.2,541.7>."
            }
        ]
    },
    {
        "id": "cd1a8954ff904333bb13fa1a6ee526fd_a107b3f5e954436db06ddf9000dfeea4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114919512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114919504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114919520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114919537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114919547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114919527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1039.2,488.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cd1a8954ff904333bb13fa1a6ee526fd_a107b3f5e954436db06ddf9000dfeea4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114919512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114919504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114919520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114919537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114919547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114919527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1039.2,488.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cd1a8954ff904333bb13fa1a6ee526fd_a107b3f5e954436db06ddf9000dfeea4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114919512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114919504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114919520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114919537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114919547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114919527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1039.2,488.3>? 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": "cd1a8954ff904333bb13fa1a6ee526fd_a107b3f5e954436db06ddf9000dfeea4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114919512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114919504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114919520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114919537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114919547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114919527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1039.2,488.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "cd1a8954ff904333bb13fa1a6ee526fd_a107b3f5e954436db06ddf9000dfeea4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114919512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114919504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114919520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114919537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114919547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114919527893.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 suddenly, brake gently to a stop, decelerate gradually without braking, slightly offset to the left, and turn left."
            }
        ]
    },
    {
        "id": "cd1a8954ff904333bb13fa1a6ee526fd_a107b3f5e954436db06ddf9000dfeea4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533114919512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533114919504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533114919520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533114919537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533114919547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533114919527893.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 with normal speed."
            }
        ]
    },
    {
        "id": "7ca5e90766dc4b7bb6a9b3b0d95c99da_10be1473792a4caba90878c51f522016_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867433862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867433854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867433870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867433887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867433897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867433878113.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 back of the ego vehicle, a woman wearing a white shirt to the front left of the ego vehicle, a white pickup truck to the front right of the ego vehicle, a black SUV to the front of the ego vehicle, a people crossing the road to the front of the ego vehicle, and a man wearing a white shirt to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,855.0,510.8>, <c2,CAM_FRONT_LEFT,1538.3,530.0>, <c3,CAM_FRONT_RIGHT,1084.2,570.6>, <c4,CAM_FRONT,1010.0,509.2>, <c5,CAM_FRONT,1055.0,516.7>, and <c6,CAM_BACK_LEFT,1010.8,572.5>."
            }
        ]
    },
    {
        "id": "7ca5e90766dc4b7bb6a9b3b0d95c99da_10be1473792a4caba90878c51f522016_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867433862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867433854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867433870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867433887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867433897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867433878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,855.0,510.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7ca5e90766dc4b7bb6a9b3b0d95c99da_10be1473792a4caba90878c51f522016_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867433862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867433854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867433870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867433887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867433897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867433878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,855.0,510.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7ca5e90766dc4b7bb6a9b3b0d95c99da_10be1473792a4caba90878c51f522016_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867433862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867433854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867433870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867433887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867433897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867433878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,855.0,510.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to brake gently to a stop. The reason for taking this action is to follow the traffic rules, with a high probability."
            }
        ]
    },
    {
        "id": "7ca5e90766dc4b7bb6a9b3b0d95c99da_10be1473792a4caba90878c51f522016_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867433862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867433854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867433870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867433887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867433897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867433878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,855.0,510.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "7ca5e90766dc4b7bb6a9b3b0d95c99da_10be1473792a4caba90878c51f522016_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867433862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867433854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867433870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867433887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867433897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867433878113.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, or brake gently to a stop."
            }
        ]
    },
    {
        "id": "7ca5e90766dc4b7bb6a9b3b0d95c99da_10be1473792a4caba90878c51f522016_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867433862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867433854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867433870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867433887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867433897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867433878113.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": "08be42eb2186411d8e2201225329f1c6_9dea829de76e4f9f9f5b3c7ac14a67b6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290865912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290865904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290865920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290865937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290865947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290865928113.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 white compact car to the front of the ego vehicle, a black small car to the front of the ego vehicle, a black small car to the front right of the ego vehicle, a green mini car to the back left of the ego vehicle, and a black compact car to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,912.5,519.2>, <c2,CAM_FRONT,718.3,508.3>, <c3,CAM_FRONT,885.0,504.2>, <c4,CAM_FRONT_RIGHT,410.8,670.1>, <c5,CAM_BACK_LEFT,554.2,653.3>, and <c6,CAM_BACK_RIGHT,609.4,680.8>."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_9dea829de76e4f9f9f5b3c7ac14a67b6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290865912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290865904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290865920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290865937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290865947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290865928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,912.5,519.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_9dea829de76e4f9f9f5b3c7ac14a67b6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290865912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290865904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290865920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290865937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290865947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290865928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,912.5,519.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_9dea829de76e4f9f9f5b3c7ac14a67b6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290865912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290865904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290865920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290865937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290865947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290865928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,912.5,519.2>? 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": "08be42eb2186411d8e2201225329f1c6_9dea829de76e4f9f9f5b3c7ac14a67b6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290865912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290865904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290865920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290865937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290865947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290865928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,912.5,519.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_9dea829de76e4f9f9f5b3c7ac14a67b6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290865912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290865904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290865920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290865937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290865947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290865928113.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."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_9dea829de76e4f9f9f5b3c7ac14a67b6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290865912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290865904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290865920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290865937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290865947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290865928113.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": "08be42eb2186411d8e2201225329f1c6_f7f487ad115a4fcdaa75713a9bf88b85_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290868362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290868354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290868370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290868387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290868397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290868378113.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 red car to the front right of the ego vehicle, a white sedan car to the front of the ego vehicle, a black sedan car to the front of the ego vehicle, a black car to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,908.3,535.0>, <c2,CAM_FRONT_RIGHT,632.5,660.0>, <c3,CAM_FRONT,652.5,535.8>, <c4,CAM_FRONT,868.3,527.5>, <c5,CAM_FRONT,1515.8,574.2>, and <c6,CAM_FRONT,803.3,520.8>."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_f7f487ad115a4fcdaa75713a9bf88b85_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290868362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290868354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290868370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290868387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290868397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290868378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,908.3,535.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_f7f487ad115a4fcdaa75713a9bf88b85_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290868362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290868354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290868370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290868387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290868397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290868378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,908.3,535.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_f7f487ad115a4fcdaa75713a9bf88b85_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290868362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290868354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290868370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290868387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290868397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290868378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,908.3,535.0>? 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": "08be42eb2186411d8e2201225329f1c6_f7f487ad115a4fcdaa75713a9bf88b85_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290868362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290868354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290868370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290868387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290868397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290868378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,908.3,535.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_f7f487ad115a4fcdaa75713a9bf88b85_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290868362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290868354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290868370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290868387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290868397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290868378113.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": "08be42eb2186411d8e2201225329f1c6_f7f487ad115a4fcdaa75713a9bf88b85_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290868362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290868354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290868370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290868387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290868397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290868378113.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": "08be42eb2186411d8e2201225329f1c6_3d7c47a712574f9785c00f9bd421a403_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290873262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290873254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290873270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290873287587.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290873297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290873278113.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 sedan to the front of the ego vehicle, a black pickup truck to the front of the ego vehicle, a black car to the back right of the ego vehicle, a white sedan to the front of the ego vehicle, and a no left turn and no parking to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,620.0,685.0>, <c2,CAM_FRONT,46.7,561.7>, <c3,CAM_FRONT,1082.5,517.5>, <c4,CAM_BACK_RIGHT,693.8,695.8>, <c5,CAM_FRONT,350.0,530.8>, and <c6,CAM_FRONT,692.2,275.9>."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_3d7c47a712574f9785c00f9bd421a403_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290873262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290873254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290873270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290873287587.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290873297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290873278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,620.0,685.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_3d7c47a712574f9785c00f9bd421a403_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290873262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290873254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290873270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290873287587.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290873297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290873278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,620.0,685.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_3d7c47a712574f9785c00f9bd421a403_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290873262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290873254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290873270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290873287587.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290873297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290873278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,620.0,685.0>? 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": "08be42eb2186411d8e2201225329f1c6_3d7c47a712574f9785c00f9bd421a403_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290873262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290873254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290873270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290873287587.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290873297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290873278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,620.0,685.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_3d7c47a712574f9785c00f9bd421a403_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290873262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290873254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290873270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290873287587.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290873297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290873278113.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": "08be42eb2186411d8e2201225329f1c6_3d7c47a712574f9785c00f9bd421a403_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290873262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290873254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290873270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290873287587.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290873297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290873278113.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": "08be42eb2186411d8e2201225329f1c6_2be6b73858104271a22d441b514ab3c3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290863262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290863254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290863270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290863287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290863297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290863278113.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 right of the ego vehicle, a black sedan car to the back of the ego vehicle, a gray sedan to the back right of the ego vehicle, a black SUV to the back of the ego vehicle, a black SUV to the front of the ego vehicle, and a white sedan car to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,469.2,671.7>, <c2,CAM_BACK,980.8,524.2>, <c3,CAM_BACK_RIGHT,1038.3,677.5>, <c4,CAM_BACK,359.2,601.7>, <c5,CAM_FRONT,1445.0,560.0>, and <c6,CAM_FRONT_LEFT,1422.4,594.4>."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_2be6b73858104271a22d441b514ab3c3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290863262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290863254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290863270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290863287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290863297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290863278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,980.8,524.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_2be6b73858104271a22d441b514ab3c3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290863262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290863254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290863270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290863287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290863297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290863278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,469.2,671.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_2be6b73858104271a22d441b514ab3c3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290863262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290863254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290863270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290863287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290863297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290863278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,469.2,671.7>? 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": "08be42eb2186411d8e2201225329f1c6_2be6b73858104271a22d441b514ab3c3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290863262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290863254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290863270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290863287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290863297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290863278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,469.2,671.7>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane can lead to a collision with <c1,CAM_FRONT_RIGHT,469.2,671.7>."
            }
        ]
    },
    {
        "id": "08be42eb2186411d8e2201225329f1c6_2be6b73858104271a22d441b514ab3c3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290863262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290863254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290863270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290863287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290863297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290863278113.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": "08be42eb2186411d8e2201225329f1c6_2be6b73858104271a22d441b514ab3c3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290863262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290863254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290863270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290863287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290863297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290863278113.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": "d3c39710e9da42f48b605824ce2a1927_db886d257bda4130a355ac13cb3c35ae_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801663662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801663654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801663670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801663687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801663697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801663677893.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 black bus to the back of the ego vehicle, a black car to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a black car to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,915.0,510.0>, <c2,CAM_FRONT,794.2,590.0>, <c3,CAM_FRONT,324.2,493.3>, and <c4,CAM_BACK_LEFT,306.7,626.7>."
            }
        ]
    },
    {
        "id": "d3c39710e9da42f48b605824ce2a1927_db886d257bda4130a355ac13cb3c35ae_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801663662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801663654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801663670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801663687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801663697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801663677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,915.0,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d3c39710e9da42f48b605824ce2a1927_db886d257bda4130a355ac13cb3c35ae_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801663662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801663654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801663670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801663687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801663697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801663677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,915.0,510.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d3c39710e9da42f48b605824ce2a1927_db886d257bda4130a355ac13cb3c35ae_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801663662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801663654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801663670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801663687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801663697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801663677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,915.0,510.0>? 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": "d3c39710e9da42f48b605824ce2a1927_db886d257bda4130a355ac13cb3c35ae_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801663662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801663654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801663670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801663687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801663697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801663677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,915.0,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "d3c39710e9da42f48b605824ce2a1927_db886d257bda4130a355ac13cb3c35ae_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801663662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801663654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801663670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801663687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801663697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801663677893.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": "d3c39710e9da42f48b605824ce2a1927_db886d257bda4130a355ac13cb3c35ae_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801663662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801663654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801663670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801663687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801663697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801663677893.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": "febc1800b9ed432d96aee5ecf0156831_356e750d3f67405aa026a9dec6293ba8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707725512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707725504824.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707725520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707725537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707725547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707725528113.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 brown clothes to the front left of the ego vehicle, an orange clothes pedestrian to the front of the ego vehicle, and a black truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,410.8,647.5>, <c2,CAM_FRONT,719.2,562.5>, and <c3,CAM_FRONT_LEFT,1134.2,568.3>."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_356e750d3f67405aa026a9dec6293ba8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707725512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707725504824.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707725520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707725537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707725547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707725528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,410.8,647.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_356e750d3f67405aa026a9dec6293ba8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707725512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707725504824.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707725520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707725537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707725547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707725528113.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 <c2,CAM_FRONT,719.2,562.5>. It is going ahead, so the ego vehicle should take no action. Secondly notice <c3,CAM_FRONT_LEFT,1134.2,568.3>. It is stationary, so the ego vehicle should take no action. Thirdly notice <c1,CAM_FRONT_LEFT,410.8,647.5>. It is going ahead, so the ego vehicle should take no action."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_356e750d3f67405aa026a9dec6293ba8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707725512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707725504824.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707725520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707725537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707725547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707725528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,410.8,647.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_356e750d3f67405aa026a9dec6293ba8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707725512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707725504824.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707725520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707725537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707725547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707725528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,410.8,647.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary, the reason being that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_356e750d3f67405aa026a9dec6293ba8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707725512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707725504824.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707725520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707725537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707725547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707725528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,410.8,647.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_356e750d3f67405aa026a9dec6293ba8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707725512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707725504824.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707725520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707725537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707725547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707725528113.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 suddenly."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_356e750d3f67405aa026a9dec6293ba8_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707725512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707725504824.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707725520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707725537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707725547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707725528113.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": "febc1800b9ed432d96aee5ecf0156831_0764eaf4030a4626a33d6c8b0c524bb0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707737012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707737004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707737020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707737037578.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707737047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707737028113.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 left of the ego vehicle, a pedestrian to the back left of the ego vehicle, a pedestrian to the front of the ego vehicle, and a black business car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,371.5,634.3>, <c2,CAM_BACK_LEFT,625.0,637.5>, <c3,CAM_FRONT,1188.3,580.8>, and <c4,CAM_FRONT_RIGHT,652.4,553.5>."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_0764eaf4030a4626a33d6c8b0c524bb0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707737012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707737004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707737020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707737037578.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707737047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707737028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK_LEFT,625.0,637.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_0764eaf4030a4626a33d6c8b0c524bb0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707737012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707737004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707737020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707737037578.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707737047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707737028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,371.5,634.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_0764eaf4030a4626a33d6c8b0c524bb0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707737012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707737004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707737020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707737037578.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707737047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707737028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,371.5,634.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary, the reason being that there is no safety issue, with a high probability."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_0764eaf4030a4626a33d6c8b0c524bb0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707737012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707737004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707737020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707737037578.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707737047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707737028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,371.5,634.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_0764eaf4030a4626a33d6c8b0c524bb0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707737012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707737004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707737020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707737037578.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707737047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707737028113.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": "febc1800b9ed432d96aee5ecf0156831_0764eaf4030a4626a33d6c8b0c524bb0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707737012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707737004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707737020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707737037578.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707737047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707737028113.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": "febc1800b9ed432d96aee5ecf0156831_cfac4690755c4657a712e449e1ec3b2a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707731512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707731504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707731520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707731537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707731547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707731528113.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 gray sedan to the front left of the ego vehicle, a man wearing a white shirt to the front of the ego vehicle, and a black sedan to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,410.8,643.3>, <c2,CAM_FRONT,954.2,595.0>, and <c3,CAM_BACK_LEFT,1113.3,695.8>."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_cfac4690755c4657a712e449e1ec3b2a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707731512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707731504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707731520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707731537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707731547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707731528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,954.2,595.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_cfac4690755c4657a712e449e1ec3b2a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707731512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707731504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707731520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707731537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707731547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707731528113.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 <c2,CAM_FRONT,954.2,595.0>. The object is going ahead, so the ego vehicle should remain stationary. Secondly, notice that <c1,CAM_FRONT_LEFT,410.8,643.3>. The object is stationary, so the ego vehicle should remain stationary. Thirdly, notice that <c3,CAM_BACK_LEFT,1113.3,695.8>. The object is stationary, so the ego vehicle should remain stationary."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_cfac4690755c4657a712e449e1ec3b2a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707731512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707731504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707731520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707731537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707731547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707731528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,410.8,643.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_cfac4690755c4657a712e449e1ec3b2a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707731512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707731504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707731520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707731537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707731547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707731528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,410.8,643.3>? 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 maintain a safe distance, which is high in probability."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_cfac4690755c4657a712e449e1ec3b2a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707731512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707731504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707731520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707731537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707731547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707731528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,410.8,643.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_cfac4690755c4657a712e449e1ec3b2a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707731512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707731504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707731520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707731537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707731547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707731528113.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 suddenly, brake gently to a stop, slightly offset to the left, and back up."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_cfac4690755c4657a712e449e1ec3b2a_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707731512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707731504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707731520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707731537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707731547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707731528113.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": "febc1800b9ed432d96aee5ecf0156831_4cfd5115d4324cd082c864bb505382e5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707739412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707739404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707739420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707739437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707739447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707739428113.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 left of the ego vehicle, pedestrians on the road to the front of the ego vehicle, and a black sedan car to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,410.8,644.2>, <c2,CAM_FRONT,971.7,534.2>, and <c3,CAM_BACK_LEFT,1114.2,696.7>."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_4cfd5115d4324cd082c864bb505382e5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707739412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707739404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707739420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707739437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707739447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707739428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,971.7,534.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_4cfd5115d4324cd082c864bb505382e5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707739412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707739404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707739420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707739437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707739447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707739428113.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 <c1,CAM_FRONT_LEFT,410.8,644.2>. The object is stationary, so the ego vehicle should remain stationary. Secondly, notice that <c2,CAM_FRONT,971.7,534.2>. The object is moving ahead, so the ego vehicle should remain stationary. Thirdly, notice that <c3,CAM_BACK_LEFT,1114.2,696.7>. The object is stationary, so the ego vehicle should remain stationary."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_4cfd5115d4324cd082c864bb505382e5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707739412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707739404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707739420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707739437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707739447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707739428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,410.8,644.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_4cfd5115d4324cd082c864bb505382e5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707739412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707739404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707739420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707739437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707739447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707739428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,410.8,644.2>? 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": "febc1800b9ed432d96aee5ecf0156831_4cfd5115d4324cd082c864bb505382e5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707739412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707739404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707739420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707739437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707739447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707739428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,410.8,644.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_4cfd5115d4324cd082c864bb505382e5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707739412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707739404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707739420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707739437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707739447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707739428113.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 suddenly, brake gently to a stop."
            }
        ]
    },
    {
        "id": "febc1800b9ed432d96aee5ecf0156831_4cfd5115d4324cd082c864bb505382e5_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707739412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707739404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707739420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707739437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707739447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707739428113.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": "0e247ba64b9d4a34a7256b6c173b1b5d_6b4607a2d5a945b0aef8fbaf8b846fb9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299225412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299225404803.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299225420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299225437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299225447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299225428113.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 silver car to the back of the ego vehicle, and a silver sedan to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1062.5,440.0>, <c2,CAM_BACK,900.8,624.2>, and <c3,CAM_BACK_LEFT,705.8,561.7>."
            }
        ]
    },
    {
        "id": "0e247ba64b9d4a34a7256b6c173b1b5d_6b4607a2d5a945b0aef8fbaf8b846fb9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299225412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299225404803.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299225420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299225437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299225447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299225428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1062.5,440.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "0e247ba64b9d4a34a7256b6c173b1b5d_6b4607a2d5a945b0aef8fbaf8b846fb9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299225412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299225404803.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299225420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299225437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299225447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299225428113.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 <c2,CAM_BACK,900.8,624.2>, the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c1,CAM_FRONT_LEFT,1062.5,440.0>, the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c3,CAM_BACK_LEFT,705.8,561.7>, it is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "0e247ba64b9d4a34a7256b6c173b1b5d_6b4607a2d5a945b0aef8fbaf8b846fb9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299225412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299225404803.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299225420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299225437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299225447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299225428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1062.5,440.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0e247ba64b9d4a34a7256b6c173b1b5d_6b4607a2d5a945b0aef8fbaf8b846fb9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299225412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299225404803.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299225420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299225437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299225447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299225428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1062.5,440.0>? 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": "0e247ba64b9d4a34a7256b6c173b1b5d_6b4607a2d5a945b0aef8fbaf8b846fb9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299225412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299225404803.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299225420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299225437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299225447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299225428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,900.8,624.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "0e247ba64b9d4a34a7256b6c173b1b5d_6b4607a2d5a945b0aef8fbaf8b846fb9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299225412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299225404803.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299225420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299225437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299225447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299225428113.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": "0e247ba64b9d4a34a7256b6c173b1b5d_6b4607a2d5a945b0aef8fbaf8b846fb9_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299225412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299225404803.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299225420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299225437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299225447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299225428113.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": "1fbcc26ebf6948bb964d3ae74939e8ea_cd3f18887d614367b5bf0f82aa0eb1a9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114273162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114273154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114273170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114273187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114273197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114273177893.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 front of the ego vehicle, a pedestrian in a brown shirt 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 <c1,CAM_FRONT,1158.3,520.0>, <c2,CAM_FRONT,469.2,507.5>, and <c3,CAM_FRONT,1304.6,594.4>."
            }
        ]
    },
    {
        "id": "1fbcc26ebf6948bb964d3ae74939e8ea_cd3f18887d614367b5bf0f82aa0eb1a9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114273162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114273154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114273170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114273187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114273197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114273177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1158.3,520.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1fbcc26ebf6948bb964d3ae74939e8ea_cd3f18887d614367b5bf0f82aa0eb1a9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114273162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114273154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114273170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114273187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114273197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114273177893.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 <c2,CAM_FRONT,469.2,507.5>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c1,CAM_FRONT,1158.3,520.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c3,CAM_FRONT,1304.6,594.4>. The object is a traffic sign, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "1fbcc26ebf6948bb964d3ae74939e8ea_cd3f18887d614367b5bf0f82aa0eb1a9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114273162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114273154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114273170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114273187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114273197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114273177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1158.3,520.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1fbcc26ebf6948bb964d3ae74939e8ea_cd3f18887d614367b5bf0f82aa0eb1a9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114273162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114273154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114273170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114273187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114273197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114273177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1158.3,520.0>? 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": "1fbcc26ebf6948bb964d3ae74939e8ea_cd3f18887d614367b5bf0f82aa0eb1a9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114273162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114273154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114273170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114273187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114273197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114273177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1158.3,520.0>?"
            },
            {
                "from": "gpt",
                "value": "None."
            }
        ]
    },
    {
        "id": "1fbcc26ebf6948bb964d3ae74939e8ea_cd3f18887d614367b5bf0f82aa0eb1a9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114273162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114273154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114273170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114273187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114273197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114273177893.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": "1fbcc26ebf6948bb964d3ae74939e8ea_cd3f18887d614367b5bf0f82aa0eb1a9_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114273162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114273154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114273170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114273187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114273197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114273177893.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": "1fbcc26ebf6948bb964d3ae74939e8ea_03d203bc6766450dbd430d425c9b3447_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.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 traffic sign to the front of the ego vehicle, and a white SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,486.7,486.7>, <c2,CAM_FRONT,491.7,534.7>, and <c3,CAM_FRONT,433.3,485.6>."
            }
        ]
    },
    {
        "id": "1fbcc26ebf6948bb964d3ae74939e8ea_03d203bc6766450dbd430d425c9b3447_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,486.7,486.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1fbcc26ebf6948bb964d3ae74939e8ea_03d203bc6766450dbd430d425c9b3447_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.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 <c2,CAM_FRONT,491.7,534.7>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c3,CAM_FRONT,433.3,485.6>. It is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_FRONT,486.7,486.7>. It is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "1fbcc26ebf6948bb964d3ae74939e8ea_03d203bc6766450dbd430d425c9b3447_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,486.7,486.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1fbcc26ebf6948bb964d3ae74939e8ea_03d203bc6766450dbd430d425c9b3447_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,486.7,486.7>? 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": "1fbcc26ebf6948bb964d3ae74939e8ea_03d203bc6766450dbd430d425c9b3447_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,486.7,486.7>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "1fbcc26ebf6948bb964d3ae74939e8ea_03d203bc6766450dbd430d425c9b3447_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.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": "1fbcc26ebf6948bb964d3ae74939e8ea_03d203bc6766450dbd430d425c9b3447_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.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": "13c6a31ab85547b08dab2544024553a8_a3ca7dd6ca07464eb79f7203b635010f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488475662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488475654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488475670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488475687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488475697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488475678113.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 back of the ego vehicle, a blue pickup truck to the front of the ego vehicle, a black SUV to the front right of the ego vehicle, a yellow roadblock to the front of the ego vehicle, and a black SUV to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,960.8,555.0>, <c2,CAM_FRONT,774.2,502.5>, <c3,CAM_FRONT_RIGHT,1080.0,605.0>, <c4,CAM_FRONT,177.5,590.0>, and <c5,CAM_BACK_RIGHT,810.0,651.7>."
            }
        ]
    },
    {
        "id": "13c6a31ab85547b08dab2544024553a8_a3ca7dd6ca07464eb79f7203b635010f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488475662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488475654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488475670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488475687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488475697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488475678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,960.8,555.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "13c6a31ab85547b08dab2544024553a8_a3ca7dd6ca07464eb79f7203b635010f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488475662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488475654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488475670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488475687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488475697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488475678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,960.8,555.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "13c6a31ab85547b08dab2544024553a8_a3ca7dd6ca07464eb79f7203b635010f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488475662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488475654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488475670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488475687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488475697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488475678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,960.8,555.0>? 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": "13c6a31ab85547b08dab2544024553a8_a3ca7dd6ca07464eb79f7203b635010f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488475662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488475654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488475670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488475687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488475697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488475678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,960.8,555.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "13c6a31ab85547b08dab2544024553a8_a3ca7dd6ca07464eb79f7203b635010f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488475662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488475654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488475670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488475687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488475697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488475678113.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": "13c6a31ab85547b08dab2544024553a8_a3ca7dd6ca07464eb79f7203b635010f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488475662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488475654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488475670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488475687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488475697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488475678113.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": "13c6a31ab85547b08dab2544024553a8_2663c0f1ae1842e5b201973109012635_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488473262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488473254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488473270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488473287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488473297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488473278113.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 roadblock to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a blue pickup truck to the front of the ego vehicle, a red car to the back right of the ego vehicle, and a gray SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,252.5,569.2>, <c2,CAM_BACK,940.0,549.2>, <c3,CAM_FRONT,790.8,521.7>, <c4,CAM_BACK_RIGHT,625.0,675.0>, and <c5,CAM_FRONT_RIGHT,882.5,585.0>."
            }
        ]
    },
    {
        "id": "13c6a31ab85547b08dab2544024553a8_2663c0f1ae1842e5b201973109012635_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488473262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488473254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488473270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488473287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488473297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488473278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,940.0,549.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "13c6a31ab85547b08dab2544024553a8_2663c0f1ae1842e5b201973109012635_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488473262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488473254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488473270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488473287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488473297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488473278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,252.5,569.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "13c6a31ab85547b08dab2544024553a8_2663c0f1ae1842e5b201973109012635_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488473262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488473254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488473270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488473287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488473297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488473278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_BACK,940.0,549.2>? 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": "13c6a31ab85547b08dab2544024553a8_2663c0f1ae1842e5b201973109012635_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488473262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488473254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488473270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488473287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488473297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488473278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,940.0,549.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "13c6a31ab85547b08dab2544024553a8_2663c0f1ae1842e5b201973109012635_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488473262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488473254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488473270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488473287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488473297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488473278113.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": "13c6a31ab85547b08dab2544024553a8_2663c0f1ae1842e5b201973109012635_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488473262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488473254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488473270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488473287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488473297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488473278113.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": "0053e9c440a94c1b84bd9c4223efc4b0_da4feceed7664d0b9ee6d952164c2cba_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708434862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708434854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708434870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708434887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708434897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708434878113.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 right of the ego vehicle, a white sedan to the back of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,769.2,579.2>, <c2,CAM_FRONT_RIGHT,211.2,425.4>, <c3,CAM_BACK,1271.7,595.8>, and <c4,CAM_FRONT,995.1,402.0>."
            }
        ]
    },
    {
        "id": "0053e9c440a94c1b84bd9c4223efc4b0_da4feceed7664d0b9ee6d952164c2cba_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708434862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708434854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708434870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708434887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708434897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708434878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,769.2,579.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "0053e9c440a94c1b84bd9c4223efc4b0_da4feceed7664d0b9ee6d952164c2cba_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708434862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708434854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708434870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708434887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708434897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708434878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,769.2,579.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0053e9c440a94c1b84bd9c4223efc4b0_da4feceed7664d0b9ee6d952164c2cba_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708434862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708434854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708434870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708434887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708434897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708434878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,769.2,579.2>? 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": "0053e9c440a94c1b84bd9c4223efc4b0_da4feceed7664d0b9ee6d952164c2cba_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708434862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708434854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708434870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708434887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708434897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708434878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,769.2,579.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "0053e9c440a94c1b84bd9c4223efc4b0_da4feceed7664d0b9ee6d952164c2cba_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708434862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708434854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708434870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708434887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708434897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708434878113.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_da4feceed7664d0b9ee6d952164c2cba_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708434862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708434854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708434870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708434887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708434897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708434878113.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 slowly."
            }
        ]
    },
    {
        "id": "0053e9c440a94c1b84bd9c4223efc4b0_0dc8558714314cce961af9e7de403517_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.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 business to the back of the ego vehicle, a white truck to the front right of the ego vehicle, a gray short-sleeved pedestrian to the front right of the ego vehicle, a brown pants pedestrian to the front of the ego vehicle, a black car 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 <c1,CAM_BACK,445.0,562.5>, <c2,CAM_FRONT_RIGHT,47.6,428.7>, <c3,CAM_FRONT_RIGHT,928.3,638.3>, <c4,CAM_FRONT,393.3,617.5>, <c5,CAM_FRONT_RIGHT,345.0,585.0>, and <c6,CAM_FRONT,935.0,582.5>."
            }
        ]
    },
    {
        "id": "0053e9c440a94c1b84bd9c4223efc4b0_0dc8558714314cce961af9e7de403517_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,445.0,562.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "0053e9c440a94c1b84bd9c4223efc4b0_0dc8558714314cce961af9e7de403517_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,445.0,562.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0053e9c440a94c1b84bd9c4223efc4b0_0dc8558714314cce961af9e7de403517_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,445.0,562.5>? 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, high probability."
            }
        ]
    },
    {
        "id": "0053e9c440a94c1b84bd9c4223efc4b0_0dc8558714314cce961af9e7de403517_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,445.0,562.5>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "0053e9c440a94c1b84bd9c4223efc4b0_0dc8558714314cce961af9e7de403517_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.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, brake gently to stop."
            }
        ]
    },
    {
        "id": "0053e9c440a94c1b84bd9c4223efc4b0_0dc8558714314cce961af9e7de403517_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.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 slowly."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_265776b3394b484894d65c51d941213f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153262912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153262904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153262920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153262937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153262947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153262928113.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 truck to the front of the ego vehicle, a white truck to the back of the ego vehicle, and a black and white truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,736.7,490.0>, <c2,CAM_BACK,1073.3,490.8>, and <c3,CAM_BACK,937.5,475.8>."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_265776b3394b484894d65c51d941213f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153262912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153262904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153262920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153262937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153262947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153262928113.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 <c1,CAM_FRONT,736.7,490.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_BACK,1073.3,490.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,937.5,475.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_265776b3394b484894d65c51d941213f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153262912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153262904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153262920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153262937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153262947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153262928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,736.7,490.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_265776b3394b484894d65c51d941213f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153262912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153262904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153262920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153262937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153262947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153262928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,736.7,490.0>? 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_265776b3394b484894d65c51d941213f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153262912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153262904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153262920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153262937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153262947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153262928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,736.7,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_265776b3394b484894d65c51d941213f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153262912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153262904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153262920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153262937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153262947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153262928113.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, or brake gently to a stop."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_265776b3394b484894d65c51d941213f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153262912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153262904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153262920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153262937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153262947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153262928113.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": "762e6aac0d6f4c1b9b0286ab4b2da654_070378543a5f42f4a0f527bf5dd2366e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153250762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153250754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153250770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153250787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153250797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153250778113.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 front left of the ego vehicle, a silver sedan to the back of the ego vehicle, and a white van to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1480.0,535.8>, <c2,CAM_BACK,1061.7,488.3>, and <c3,CAM_FRONT,505.8,490.8>."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_070378543a5f42f4a0f527bf5dd2366e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153250762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153250754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153250770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153250787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153250797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153250778113.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 <c1,CAM_FRONT_LEFT,1480.0,535.8>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_FRONT,505.8,490.8>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK,1061.7,488.3>, it is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_070378543a5f42f4a0f527bf5dd2366e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153250762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153250754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153250770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153250787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153250797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153250778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1480.0,535.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_070378543a5f42f4a0f527bf5dd2366e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153250762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153250754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153250770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153250787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153250797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153250778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1480.0,535.8>? 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": "762e6aac0d6f4c1b9b0286ab4b2da654_070378543a5f42f4a0f527bf5dd2366e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153250762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153250754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153250770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153250787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153250797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153250778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,1061.7,488.3>?"
            },
            {
                "from": "gpt",
                "value": "Turning left, turning around, going straight."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_070378543a5f42f4a0f527bf5dd2366e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153250762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153250754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153250770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153250787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153250797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153250778113.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, brake gently to a stop, brake suddenly, decelerate gradually without braking, slightly offset to the right."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_070378543a5f42f4a0f527bf5dd2366e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153250762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153250754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153250770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153250787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153250797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153250778113.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": "762e6aac0d6f4c1b9b0286ab4b2da654_e12fcf96194e4bf9beaf357beb424d02_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153256912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153256904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153256920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153256937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153256947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153256928113.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 white truck to the front of the ego vehicle, and a black and white truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,419.5,515.3>, <c2,CAM_FRONT,243.3,512.5>, and <c3,CAM_BACK,1295.0,484.2>."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_e12fcf96194e4bf9beaf357beb424d02_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153256912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153256904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153256920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153256937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153256947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153256928113.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 <c2,CAM_FRONT,243.3,512.5>. The object is stationary, so the ego vehicle should slow down and go ahead. Secondly, notice that <c1,CAM_FRONT_LEFT,419.5,515.3>. The object is stationary, so the ego vehicle should slow down and go ahead. Thirdly, notice that <c3,CAM_BACK,1295.0,484.2>. The object is stationary, so the ego vehicle should slow down and go ahead."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_e12fcf96194e4bf9beaf357beb424d02_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153256912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153256904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153256920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153256937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153256947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153256928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,419.5,515.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_e12fcf96194e4bf9beaf357beb424d02_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153256912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153256904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153256920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153256937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153256947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153256928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,419.5,515.3>? 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": "762e6aac0d6f4c1b9b0286ab4b2da654_e12fcf96194e4bf9beaf357beb424d02_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153256912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153256904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153256920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153256937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153256947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153256928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,419.5,515.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "762e6aac0d6f4c1b9b0286ab4b2da654_e12fcf96194e4bf9beaf357beb424d02_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153256912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153256904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153256920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153256937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153256947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153256928113.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": "762e6aac0d6f4c1b9b0286ab4b2da654_e12fcf96194e4bf9beaf357beb424d02_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153256912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153256904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153256920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153256937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153256947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153256928113.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": "6d4b2bd795ae4c66900ad98ccd2371a6_9aeed065acc54f9fb6a7b50b8d4058c9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402421612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402421604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402421620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402421637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402421647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402421627897.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 sedan to the front of the ego vehicle, a blue sedan to the back of the ego vehicle, a white commercial vehicle to the front of the ego vehicle, a brown sedan to the back of the ego vehicle, a brown to the front of the ego vehicle, and a black traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,944.2,540.8>, <c2,CAM_BACK,97.3,564.6>, <c3,CAM_FRONT,1329.4,566.1>, <c4,CAM_BACK,750.8,520.0>, <c5,CAM_FRONT,540.1,437.5>, and <c6,CAM_FRONT,1051.8,232.2>."
            }
        ]
    },
    {
        "id": "6d4b2bd795ae4c66900ad98ccd2371a6_9aeed065acc54f9fb6a7b50b8d4058c9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402421612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402421604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402421620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402421637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402421647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402421627897.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,944.2,540.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6d4b2bd795ae4c66900ad98ccd2371a6_9aeed065acc54f9fb6a7b50b8d4058c9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402421612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402421604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402421620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402421637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402421647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402421627897.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,944.2,540.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6d4b2bd795ae4c66900ad98ccd2371a6_9aeed065acc54f9fb6a7b50b8d4058c9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402421612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402421604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402421620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402421637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402421647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402421627897.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,944.2,540.8>? 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 maintain a safe distance, which is high."
            }
        ]
    },
    {
        "id": "6d4b2bd795ae4c66900ad98ccd2371a6_9aeed065acc54f9fb6a7b50b8d4058c9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402421612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402421604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402421620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402421637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402421647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402421627897.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,944.2,540.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "6d4b2bd795ae4c66900ad98ccd2371a6_9aeed065acc54f9fb6a7b50b8d4058c9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402421612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402421604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402421620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402421637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402421647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402421627897.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "6d4b2bd795ae4c66900ad98ccd2371a6_9aeed065acc54f9fb6a7b50b8d4058c9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402421612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402421604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402421620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402421637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402421647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402421627897.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": "034256c9639044f98da7562ef3de3646_f33f5252ab2f43fe93f022d8d4705370_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985271762485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985271754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985271770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985271787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985271797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985271777893.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 black car to the back of the ego vehicle, a black sedan to the back of the ego vehicle, and a white bus to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,245.0,500.0>, <c2,CAM_BACK,1400.8,535.0>, <c3,CAM_BACK,1484.2,532.5>, and <c4,CAM_FRONT,1192.4,447.2>."
            }
        ]
    },
    {
        "id": "034256c9639044f98da7562ef3de3646_f33f5252ab2f43fe93f022d8d4705370_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985271762485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985271754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985271770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985271787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985271797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985271777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,1400.8,535.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "034256c9639044f98da7562ef3de3646_f33f5252ab2f43fe93f022d8d4705370_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985271762485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985271754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985271770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985271787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985271797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985271777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,245.0,500.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "034256c9639044f98da7562ef3de3646_f33f5252ab2f43fe93f022d8d4705370_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985271762485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985271754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985271770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985271787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985271797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985271777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,245.0,500.0>? 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": "034256c9639044f98da7562ef3de3646_f33f5252ab2f43fe93f022d8d4705370_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985271762485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985271754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985271770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985271787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985271797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985271777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,245.0,500.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "034256c9639044f98da7562ef3de3646_f33f5252ab2f43fe93f022d8d4705370_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985271762485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985271754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985271770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985271787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985271797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985271777893.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."
            }
        ]
    },
    {
        "id": "034256c9639044f98da7562ef3de3646_f33f5252ab2f43fe93f022d8d4705370_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985271762485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985271754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985271770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985271787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985271797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985271777893.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 with normal speed."
            }
        ]
    },
    {
        "id": "034256c9639044f98da7562ef3de3646_d017cb6a33d24bf5b75928527a87ce5f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985280262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985280254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985280270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985280287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985280297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985280277893.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 back of the ego vehicle, a blue sedan car to the back of the ego vehicle, and a person wearing a blue dress to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,611.7,537.5>, <c2,CAM_BACK,795.0,530.8>, and <c3,CAM_BACK_LEFT,1094.2,543.3>."
            }
        ]
    },
    {
        "id": "034256c9639044f98da7562ef3de3646_d017cb6a33d24bf5b75928527a87ce5f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985280262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985280254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985280270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985280287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985280297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985280277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,611.7,537.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "034256c9639044f98da7562ef3de3646_d017cb6a33d24bf5b75928527a87ce5f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985280262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985280254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985280270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985280287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985280297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985280277893.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 <c3,CAM_BACK_LEFT,1094.2,543.3>; the object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly notice that <c2,CAM_BACK,795.0,530.8>; the object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly notice that <c1,CAM_BACK,611.7,537.5>; the object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "034256c9639044f98da7562ef3de3646_d017cb6a33d24bf5b75928527a87ce5f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985280262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985280254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985280270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985280287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985280297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985280277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,611.7,537.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "034256c9639044f98da7562ef3de3646_d017cb6a33d24bf5b75928527a87ce5f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985280262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985280254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985280270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985280287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985280297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985280277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,611.7,537.5>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "034256c9639044f98da7562ef3de3646_d017cb6a33d24bf5b75928527a87ce5f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985280262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985280254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985280270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985280287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985280297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985280277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,611.7,537.5>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,611.7,537.5>."
            }
        ]
    },
    {
        "id": "034256c9639044f98da7562ef3de3646_d017cb6a33d24bf5b75928527a87ce5f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985280262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985280254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985280270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985280287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985280297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985280277893.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": "034256c9639044f98da7562ef3de3646_d017cb6a33d24bf5b75928527a87ce5f_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985280262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985280254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985280270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985280287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985280297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985280277893.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": "63252988084b4943a50734990c47e039_85ec972a9ecc438b9159a5116b452da3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729205362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729205354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729205370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729205387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729205397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729205378113.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 silver sedan to the front left of the ego vehicle, a white truck to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,648.3,536.7>, <c2,CAM_FRONT_LEFT,540.8,581.2>, <c3,CAM_FRONT,723.3,444.2>, <c4,CAM_BACK,813.3,687.5>, and <c5,CAM_FRONT,1289.2,505.8>."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_85ec972a9ecc438b9159a5116b452da3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729205362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729205354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729205370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729205387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729205397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729205378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,648.3,536.7>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_85ec972a9ecc438b9159a5116b452da3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729205362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729205354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729205370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729205387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729205397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729205378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,648.3,536.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_85ec972a9ecc438b9159a5116b452da3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729205362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729205354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729205370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729205387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729205397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729205378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,648.3,536.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary because there is no safety issue, with a high probability."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_85ec972a9ecc438b9159a5116b452da3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729205362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729205354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729205370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729205387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729205397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729205378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,648.3,536.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_85ec972a9ecc438b9159a5116b452da3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729205362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729205354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729205370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729205387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729205397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729205378113.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, brake gently to come to a stop."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_85ec972a9ecc438b9159a5116b452da3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729205362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729205354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729205370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729205387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729205397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729205378113.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": "63252988084b4943a50734990c47e039_7f9f19a6f855479dbf70533aca3a3189_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729209862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729209854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729209870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729209887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729209897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729209878113.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 silver sedan to the front left of the ego vehicle, a gray sedan to the back of the ego vehicle, a black 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 <c1,CAM_FRONT,478.3,504.2>, <c2,CAM_FRONT_LEFT,562.0,564.5>, <c3,CAM_BACK,813.3,687.5>, <c4,CAM_FRONT,891.7,513.3>, and <c5,CAM_FRONT,1362.5,511.7>."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_7f9f19a6f855479dbf70533aca3a3189_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729209862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729209854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729209870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729209887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729209897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729209878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,478.3,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_7f9f19a6f855479dbf70533aca3a3189_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729209862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729209854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729209870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729209887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729209897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729209878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,478.3,504.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_7f9f19a6f855479dbf70533aca3a3189_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729209862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729209854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729209870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729209887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729209897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729209878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,478.3,504.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep going at the same speed because the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_7f9f19a6f855479dbf70533aca3a3189_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729209862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729209854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729209870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729209887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729209897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729209878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,478.3,504.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_7f9f19a6f855479dbf70533aca3a3189_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729209862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729209854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729209870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729209887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729209897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729209878113.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."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_7f9f19a6f855479dbf70533aca3a3189_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729209862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729209854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729209870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729209887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729209897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729209878113.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": "63252988084b4943a50734990c47e039_f5fa654ebe844ef888f9190dedd43323_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729207862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729207854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729207870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729207887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729207897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729207878113.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 left of the ego vehicle, a white truck to the front of the ego vehicle, a white commercial vehicle to the front of the ego vehicle, a black sedan to the back of the ego vehicle, a black SUV to the front of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,545.2,618.5>, <c2,CAM_FRONT,844.5,450.0>, <c3,CAM_FRONT,414.2,496.7>, <c4,CAM_BACK,813.3,687.5>, <c5,CAM_FRONT,1367.5,498.3>, and <c6,CAM_FRONT,580.0,525.0>."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_f5fa654ebe844ef888f9190dedd43323_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729207862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729207854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729207870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729207887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729207897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729207878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,844.5,450.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_f5fa654ebe844ef888f9190dedd43323_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729207862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729207854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729207870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729207887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729207897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729207878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,545.2,618.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_f5fa654ebe844ef888f9190dedd43323_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729207862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729207854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729207870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729207887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729207897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729207878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,545.2,618.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary, the reason is to follow the traffic rules, high."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_f5fa654ebe844ef888f9190dedd43323_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729207862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729207854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729207870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729207887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729207897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729207878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,545.2,618.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_f5fa654ebe844ef888f9190dedd43323_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729207862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729207854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729207870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729207887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729207897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729207878113.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 right."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_f5fa654ebe844ef888f9190dedd43323_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729207862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729207854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729207870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729207887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729207897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729207878113.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": "63252988084b4943a50734990c47e039_74a78e796583427782b7d854389290b9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729212412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729212404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729212420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729212437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729212447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729212428113.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 black car to the front of the ego vehicle, a silver SUV to the front left of the ego vehicle, a white truck to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, and a gray SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,764.2,489.2>, <c2,CAM_FRONT,1176.7,517.5>, <c3,CAM_FRONT_LEFT,482.1,641.3>, <c4,CAM_FRONT,854.2,457.5>, <c5,CAM_BACK,813.3,687.5>, and <c6,CAM_FRONT_LEFT,995.8,530.8>."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_74a78e796583427782b7d854389290b9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729212412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729212404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729212420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729212437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729212447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729212428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,764.2,489.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_74a78e796583427782b7d854389290b9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729212412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729212404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729212420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729212437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729212447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729212428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,764.2,489.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_74a78e796583427782b7d854389290b9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729212412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729212404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729212420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729212437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729212447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729212428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,764.2,489.2>? 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 traffic rules, which has a high probability."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_74a78e796583427782b7d854389290b9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729212412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729212404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729212420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729212437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729212447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729212428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,1176.7,517.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_74a78e796583427782b7d854389290b9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729212412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729212404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729212420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729212437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729212447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729212428113.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": "63252988084b4943a50734990c47e039_74a78e796583427782b7d854389290b9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729212412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729212404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729212420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729212437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729212447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729212428113.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": "63252988084b4943a50734990c47e039_f988551413264017a1de3a4db794d253_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729201912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729201904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729201920487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729201937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729201948084.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729201928113.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 white truck to the front left of the ego vehicle, a blue car to the front of the ego vehicle, a black business car to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, and a pedestrian to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,517.9,549.2>, <c2,CAM_FRONT_LEFT,1236.2,456.2>, <c3,CAM_FRONT,980.0,510.0>, <c4,CAM_FRONT,820.8,519.2>, <c5,CAM_BACK,813.3,687.5>, and <c6,CAM_FRONT_RIGHT,817.5,597.5>."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_f988551413264017a1de3a4db794d253_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729201912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729201904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729201920487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729201937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729201948084.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729201928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,1236.2,456.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_f988551413264017a1de3a4db794d253_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729201912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729201904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729201920487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729201937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729201948084.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729201928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,517.9,549.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_f988551413264017a1de3a4db794d253_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729201912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729201904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729201920487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729201937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729201948084.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729201928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,517.9,549.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_f988551413264017a1de3a4db794d253_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729201912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729201904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729201920487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729201937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729201948084.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729201928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,517.9,549.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_f988551413264017a1de3a4db794d253_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729201912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729201904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729201920487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729201937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729201948084.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729201928113.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 maintain the current speed."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_f988551413264017a1de3a4db794d253_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729201912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729201904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729201920487.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729201937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729201948084.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729201928113.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": "63252988084b4943a50734990c47e039_e861625c90454c688480e4ae9c6b0bba_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729200412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729200404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729200420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729200437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729200447439.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729200428113.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 silver business car to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, a man wearing gray pants to the front right of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,735.0,514.2>, <c2,CAM_FRONT_LEFT,490.6,622.7>, <c3,CAM_FRONT,1348.3,503.3>, <c4,CAM_BACK,813.3,682.5>, <c5,CAM_FRONT_RIGHT,388.3,575.8>, and <c6,CAM_FRONT,520.8,535.8>."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_e861625c90454c688480e4ae9c6b0bba_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729200412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729200404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729200420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729200437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729200447439.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729200428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,735.0,514.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_e861625c90454c688480e4ae9c6b0bba_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729200412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729200404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729200420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729200437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729200447439.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729200428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,735.0,514.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_e861625c90454c688480e4ae9c6b0bba_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729200412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729200404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729200420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729200437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729200447439.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729200428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,735.0,514.2>? 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 low."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_e861625c90454c688480e4ae9c6b0bba_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729200412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729200404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729200420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729200437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729200447439.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729200428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,735.0,514.2>?"
            },
            {
                "from": "gpt",
                "value": "None."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_e861625c90454c688480e4ae9c6b0bba_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729200412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729200404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729200420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729200437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729200447439.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729200428113.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 keep going at the same speed."
            }
        ]
    },
    {
        "id": "63252988084b4943a50734990c47e039_e861625c90454c688480e4ae9c6b0bba_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729200412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729200404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729200420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729200437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729200447439.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729200428113.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": "df8dfada99a04a81bd1b102eeb84e9bc_e3f986e5d53f416492bdf255e82bff52_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.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 person riding a bicycle to the front of the ego vehicle, a person wearing a pink shirt and black pants to the front of the ego vehicle, a white SUV to the front right of the ego vehicle, a black sedan to the back right of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1056.7,568.3>, <c2,CAM_FRONT,328.3,548.3>, <c3,CAM_FRONT,32.5,539.2>, <c4,CAM_FRONT_RIGHT,690.1,608.2>, <c5,CAM_BACK_RIGHT,385.4,668.3>, and <c6,CAM_BACK,216.2,568.3>."
            }
        ]
    },
    {
        "id": "df8dfada99a04a81bd1b102eeb84e9bc_e3f986e5d53f416492bdf255e82bff52_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1056.7,568.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "df8dfada99a04a81bd1b102eeb84e9bc_e3f986e5d53f416492bdf255e82bff52_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1056.7,568.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "df8dfada99a04a81bd1b102eeb84e9bc_e3f986e5d53f416492bdf255e82bff52_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1056.7,568.3>? 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": "df8dfada99a04a81bd1b102eeb84e9bc_e3f986e5d53f416492bdf255e82bff52_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1056.7,568.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "df8dfada99a04a81bd1b102eeb84e9bc_e3f986e5d53f416492bdf255e82bff52_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.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": "df8dfada99a04a81bd1b102eeb84e9bc_e3f986e5d53f416492bdf255e82bff52_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.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": "df8dfada99a04a81bd1b102eeb84e9bc_0545b9cffcb441769be5f769fad6986d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574098912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574098904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574098920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574098937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574098947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574098931439.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 black pants to the back left of the ego vehicle, a white sedan car to the back of the ego vehicle, a traffic cone to the front of the ego vehicle, a white bus to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a black sedan car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,327.5,542.5>, <c2,CAM_BACK,209.2,605.8>, <c3,CAM_FRONT,1480.8,755.8>, <c4,CAM_FRONT,73.3,491.7>, <c5,CAM_FRONT,324.2,557.5>, and <c6,CAM_BACK,588.3,510.8>."
            }
        ]
    },
    {
        "id": "df8dfada99a04a81bd1b102eeb84e9bc_0545b9cffcb441769be5f769fad6986d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574098912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574098904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574098920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574098937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574098947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574098931439.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_LEFT,327.5,542.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "df8dfada99a04a81bd1b102eeb84e9bc_0545b9cffcb441769be5f769fad6986d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574098912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574098904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574098920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574098937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574098947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574098931439.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,327.5,542.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "df8dfada99a04a81bd1b102eeb84e9bc_0545b9cffcb441769be5f769fad6986d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574098912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574098904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574098920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574098937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574098947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574098931439.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,327.5,542.5>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "df8dfada99a04a81bd1b102eeb84e9bc_0545b9cffcb441769be5f769fad6986d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574098912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574098904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574098920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574098937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574098947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574098931439.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,327.5,542.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "df8dfada99a04a81bd1b102eeb84e9bc_0545b9cffcb441769be5f769fad6986d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574098912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574098904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574098920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574098937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574098947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574098931439.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."
            }
        ]
    },
    {
        "id": "df8dfada99a04a81bd1b102eeb84e9bc_0545b9cffcb441769be5f769fad6986d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574098912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574098904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574098920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574098937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574098947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574098931439.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": "1959c8f440a340fda3ea2cac0ac528ec_64e9a5b39a33464181fba78cee35135e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621953112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621953104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621953120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621953137562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621953147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621953128113.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 pole to the front right of the ego vehicle, a construction vehicle to the front of the ego vehicle, and a bicycle lane to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,750.8,541.7>, <c2,CAM_FRONT_RIGHT,1173.3,346.7>, <c3,CAM_FRONT,810.0,484.2>, and <c4,CAM_FRONT_RIGHT,280.6,808.0>."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_64e9a5b39a33464181fba78cee35135e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621953112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621953104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621953120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621953137562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621953147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621953128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,750.8,541.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_64e9a5b39a33464181fba78cee35135e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621953112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621953104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621953120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621953137562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621953147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621953128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,750.8,541.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_64e9a5b39a33464181fba78cee35135e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621953112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621953104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621953120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621953137562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621953147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621953128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,750.8,541.7>? 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": "1959c8f440a340fda3ea2cac0ac528ec_64e9a5b39a33464181fba78cee35135e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621953112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621953104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621953120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621953137562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621953147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621953128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,750.8,541.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_64e9a5b39a33464181fba78cee35135e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621953112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621953104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621953120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621953137562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621953147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621953128113.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": "1959c8f440a340fda3ea2cac0ac528ec_64e9a5b39a33464181fba78cee35135e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621953112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621953104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621953120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621953137562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621953147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621953128113.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": "1959c8f440a340fda3ea2cac0ac528ec_76ffc80a634145edb25497dc7a44b683_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621947162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621947154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621947170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621947187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621947197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621947178113.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 commercial vehicle to the back of the ego vehicle, and a pedestrian to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1216.7,499.2>, <c2,CAM_BACK,842.5,665.0>, and <c3,CAM_FRONT_RIGHT,1022.5,540.0>."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_76ffc80a634145edb25497dc7a44b683_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621947162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621947154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621947170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621947187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621947197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621947178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1216.7,499.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_76ffc80a634145edb25497dc7a44b683_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621947162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621947154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621947170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621947187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621947197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621947178113.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 <c1,CAM_FRONT,1216.7,499.2>. The object is going ahead, so the ego vehicle should remain stationary. Secondly, notice that <c3,CAM_FRONT_RIGHT,1022.5,540.0>. The object is going ahead, so the ego vehicle should remain stationary. Thirdly, notice that <c2,CAM_BACK,842.5,665.0>. The object is going ahead, so the ego vehicle should remain stationary."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_76ffc80a634145edb25497dc7a44b683_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621947162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621947154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621947170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621947187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621947197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621947178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1216.7,499.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_76ffc80a634145edb25497dc7a44b683_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621947162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621947154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621947170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621947187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621947197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621947178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1216.7,499.2>? 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": "1959c8f440a340fda3ea2cac0ac528ec_76ffc80a634145edb25497dc7a44b683_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621947162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621947154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621947170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621947187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621947197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621947178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1216.7,499.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_76ffc80a634145edb25497dc7a44b683_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621947162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621947154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621947170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621947187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621947197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621947178113.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, keep going at the same speed, and brake gently to a stop."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_76ffc80a634145edb25497dc7a44b683_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621947162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621947154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621947170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621947187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621947197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621947178113.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": "1959c8f440a340fda3ea2cac0ac528ec_fc744df51df947629783bca9df907c1c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621940662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621940654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621940670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621940687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621940697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621940678113.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 left of the ego vehicle, a black car to the back of the ego vehicle, a person wearing a shirt to the front of the ego vehicle, a black car to the front of the ego vehicle, a silver car to the front of the ego vehicle, and a person wearing a black shirt to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,960.8,550.0>, <c2,CAM_BACK,839.2,648.3>, <c3,CAM_FRONT,1525.8,528.3>, <c4,CAM_FRONT,1225.0,495.0>, <c5,CAM_FRONT,201.7,620.8>, and <c6,CAM_FRONT_RIGHT,1042.5,560.0>."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_fc744df51df947629783bca9df907c1c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621940662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621940654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621940670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621940687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621940697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621940678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,960.8,550.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_fc744df51df947629783bca9df907c1c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621940662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621940654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621940670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621940687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621940697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621940678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,960.8,550.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_fc744df51df947629783bca9df907c1c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621940662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621940654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621940670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621940687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621940697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621940678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,960.8,550.0>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_fc744df51df947629783bca9df907c1c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621940662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621940654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621940670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621940687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621940697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621940678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,960.8,550.0>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_fc744df51df947629783bca9df907c1c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621940662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621940654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621940670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621940687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621940697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621940678113.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 stop."
            }
        ]
    },
    {
        "id": "1959c8f440a340fda3ea2cac0ac528ec_fc744df51df947629783bca9df907c1c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621940662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621940654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621940670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621940687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621940697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621940678113.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": "cfa36eca40364e5bb15f550a077a21c5_dcd5692dcbfa46d6818875e73d221a4b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801014412475.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801014404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801014420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801014437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801014447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801014427893.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 bus to the front of the ego vehicle, a gray business to the back of the ego vehicle, and a black sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1549.3,412.8>, <c2,CAM_BACK,120.8,562.5>, and <c3,CAM_FRONT_RIGHT,372.3,586.0>."
            }
        ]
    },
    {
        "id": "cfa36eca40364e5bb15f550a077a21c5_dcd5692dcbfa46d6818875e73d221a4b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801014412475.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801014404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801014420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801014437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801014447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801014427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,120.8,562.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cfa36eca40364e5bb15f550a077a21c5_dcd5692dcbfa46d6818875e73d221a4b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801014412475.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801014404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801014420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801014437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801014447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801014427893.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 <c1,CAM_FRONT,1549.3,412.8>. It is stationary, so the ego vehicle should turn right. Secondly, notice <c3,CAM_FRONT_RIGHT,372.3,586.0>. It is stationary, so the ego vehicle should turn right. Thirdly, notice <c2,CAM_BACK,120.8,562.5>. It is going ahead, so the ego vehicle should turn right."
            }
        ]
    },
    {
        "id": "cfa36eca40364e5bb15f550a077a21c5_dcd5692dcbfa46d6818875e73d221a4b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801014412475.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801014404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801014420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801014437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801014447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801014427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1549.3,412.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cfa36eca40364e5bb15f550a077a21c5_dcd5692dcbfa46d6818875e73d221a4b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801014412475.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801014404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801014420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801014437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801014447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801014427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1549.3,412.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is to follow the traffic rules, and the probability is high."
            }
        ]
    },
    {
        "id": "cfa36eca40364e5bb15f550a077a21c5_dcd5692dcbfa46d6818875e73d221a4b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801014412475.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801014404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801014420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801014437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801014447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801014427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1549.3,412.8>?"
            },
            {
                "from": "gpt",
                "value": "Change to the right lane."
            }
        ]
    },
    {
        "id": "cfa36eca40364e5bb15f550a077a21c5_dcd5692dcbfa46d6818875e73d221a4b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801014412475.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801014404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801014420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801014437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801014447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801014427893.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 slightly offset to the right."
            }
        ]
    },
    {
        "id": "cfa36eca40364e5bb15f550a077a21c5_dcd5692dcbfa46d6818875e73d221a4b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801014412475.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801014404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801014420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801014437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801014447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801014427893.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 fast."
            }
        ]
    },
    {
        "id": "2a334f5c4615465f86a250d4758a2d7d_cf109604c1f74c5bb739a32ea66d60f0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194374162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194374154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194374170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194374187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194374197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194374177893.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 brown sedan to the front of the ego vehicle, a person riding an electric bike to the back of the ego vehicle, a red car to the front of the ego vehicle, and a white road sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1128.3,509.2>, <c2,CAM_BACK,834.2,528.3>, <c3,CAM_FRONT,1305.0,565.0>, and <c4,CAM_FRONT,810.6,654.4>."
            }
        ]
    },
    {
        "id": "2a334f5c4615465f86a250d4758a2d7d_cf109604c1f74c5bb739a32ea66d60f0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194374162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194374154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194374170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194374187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194374197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194374177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,834.2,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2a334f5c4615465f86a250d4758a2d7d_cf109604c1f74c5bb739a32ea66d60f0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194374162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194374154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194374170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194374187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194374197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194374177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1128.3,509.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2a334f5c4615465f86a250d4758a2d7d_cf109604c1f74c5bb739a32ea66d60f0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194374162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194374154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194374170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194374187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194374197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194374177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1128.3,509.2>? 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": "2a334f5c4615465f86a250d4758a2d7d_cf109604c1f74c5bb739a32ea66d60f0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194374162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194374154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194374170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194374187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194374197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194374177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1128.3,509.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "2a334f5c4615465f86a250d4758a2d7d_cf109604c1f74c5bb739a32ea66d60f0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194374162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194374154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194374170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194374187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194374197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194374177893.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": "2a334f5c4615465f86a250d4758a2d7d_cf109604c1f74c5bb739a32ea66d60f0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194374162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194374154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194374170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194374187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194374197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194374177893.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": "9c7062b34e064d6ab42124f3f0be233d_a7ae916ecf304a7ab7f227706e45cbc7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656856762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656856754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656856770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656856787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656856797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656856778113.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 black sedan to the front of the ego vehicle, a white truck to the front right of the ego vehicle, a blue 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 <c1,CAM_FRONT,1305.8,560.8>, <c2,CAM_FRONT,829.2,505.0>, <c3,CAM_FRONT_RIGHT,826.7,460.0>, <c4,CAM_BACK,870.0,650.8>, and <c5,CAM_FRONT,1507.8,320.8>."
            }
        ]
    },
    {
        "id": "9c7062b34e064d6ab42124f3f0be233d_a7ae916ecf304a7ab7f227706e45cbc7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656856762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656856754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656856770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656856787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656856797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656856778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1305.8,560.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "9c7062b34e064d6ab42124f3f0be233d_a7ae916ecf304a7ab7f227706e45cbc7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656856762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656856754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656856770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656856787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656856797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656856778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1305.8,560.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9c7062b34e064d6ab42124f3f0be233d_a7ae916ecf304a7ab7f227706e45cbc7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656856762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656856754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656856770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656856787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656856797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656856778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1305.8,560.8>? 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 avoid a collision, which is high in probability."
            }
        ]
    },
    {
        "id": "9c7062b34e064d6ab42124f3f0be233d_a7ae916ecf304a7ab7f227706e45cbc7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656856762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656856754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656856770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656856787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656856797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656856778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1305.8,560.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "9c7062b34e064d6ab42124f3f0be233d_a7ae916ecf304a7ab7f227706e45cbc7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656856762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656856754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656856770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656856787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656856797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656856778113.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."
            }
        ]
    },
    {
        "id": "9c7062b34e064d6ab42124f3f0be233d_a7ae916ecf304a7ab7f227706e45cbc7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656856762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656856754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656856770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656856787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656856797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656856778113.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": "9c7062b34e064d6ab42124f3f0be233d_c44389636f404196945c1c9a92f546b0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656868162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656868154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656868170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656868187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656868197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656868178113.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 right of the ego vehicle, a white truck to the front right of the ego vehicle, a red and white truck to the front of the ego vehicle, a black sedan to the front right of the ego vehicle, and a black sedan car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,738.3,512.5>, <c2,CAM_FRONT_RIGHT,386.7,465.8>, <c3,CAM_FRONT,564.2,461.8>, <c4,CAM_FRONT_RIGHT,472.5,524.2>, and <c5,CAM_BACK,869.2,651.7>."
            }
        ]
    },
    {
        "id": "9c7062b34e064d6ab42124f3f0be233d_c44389636f404196945c1c9a92f546b0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656868162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656868154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656868170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656868187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656868197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656868178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,738.3,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9c7062b34e064d6ab42124f3f0be233d_c44389636f404196945c1c9a92f546b0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656868162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656868154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656868170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656868187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656868197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656868178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,738.3,512.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9c7062b34e064d6ab42124f3f0be233d_c44389636f404196945c1c9a92f546b0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656868162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656868154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656868170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656868187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656868197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656868178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,738.3,512.5>? 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. The probability of this action is high."
            }
        ]
    },
    {
        "id": "9c7062b34e064d6ab42124f3f0be233d_c44389636f404196945c1c9a92f546b0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656868162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656868154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656868170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656868187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656868197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656868178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,738.3,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "9c7062b34e064d6ab42124f3f0be233d_c44389636f404196945c1c9a92f546b0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656868162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656868154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656868170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656868187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656868197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656868178113.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 suddenly, turn right, and slightly offset to the right."
            }
        ]
    },
    {
        "id": "9c7062b34e064d6ab42124f3f0be233d_c44389636f404196945c1c9a92f546b0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656868162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656868154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656868170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656868187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656868197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656868178113.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": "f2e4460c1fd149ec8068626837f20013_d8f6a1cb324f46768d4bff2ec2b9b2f2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033714262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033714254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033714270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033714287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033714297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033714277893.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 on the roadside to the back right of the ego vehicle, a black car to the back of the ego vehicle, and a red car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1173.3,600.0>, <c2,CAM_BACK,816.7,518.3>, and <c3,CAM_FRONT,1225.8,615.0>."
            }
        ]
    },
    {
        "id": "f2e4460c1fd149ec8068626837f20013_d8f6a1cb324f46768d4bff2ec2b9b2f2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033714262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033714254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033714270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033714287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033714297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033714277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,816.7,518.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f2e4460c1fd149ec8068626837f20013_d8f6a1cb324f46768d4bff2ec2b9b2f2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033714262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033714254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033714270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033714287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033714297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033714277893.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 <c3,CAM_FRONT,1225.8,615.0>. It is going ahead, so the ego vehicle should continue at the same speed. Secondly, notice <c1,CAM_BACK_RIGHT,1173.3,600.0>. It is stationary, so the ego vehicle should continue at the same speed. Thirdly, notice <c2,CAM_BACK,816.7,518.3>. It is going ahead, so the ego vehicle should continue at the same speed."
            }
        ]
    },
    {
        "id": "f2e4460c1fd149ec8068626837f20013_d8f6a1cb324f46768d4bff2ec2b9b2f2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033714262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033714254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033714270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033714287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033714297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033714277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1173.3,600.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f2e4460c1fd149ec8068626837f20013_d8f6a1cb324f46768d4bff2ec2b9b2f2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033714262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033714254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033714270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033714287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033714297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033714277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1173.3,600.0>? 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": "f2e4460c1fd149ec8068626837f20013_d8f6a1cb324f46768d4bff2ec2b9b2f2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033714262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033714254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033714270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033714287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033714297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033714277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,1173.3,600.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "f2e4460c1fd149ec8068626837f20013_d8f6a1cb324f46768d4bff2ec2b9b2f2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033714262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033714254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033714270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033714287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033714297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033714277893.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": "f2e4460c1fd149ec8068626837f20013_d8f6a1cb324f46768d4bff2ec2b9b2f2_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033714262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033714254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033714270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033714287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033714297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033714277893.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": "796e7ae080984a0ab2b96ce80f18ca3b_4d6fdad88b5b4a93a473975dc833acfa_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193210854860.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193210877893.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 bus to the back of the ego vehicle, a yellow and black bus to the front of the ego vehicle, and a yellow and white identification electronic pole to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,899.2,453.3>, <c2,CAM_FRONT,749.2,464.2>, and <c3,CAM_FRONT,882.0,612.9>."
            }
        ]
    },
    {
        "id": "796e7ae080984a0ab2b96ce80f18ca3b_4d6fdad88b5b4a93a473975dc833acfa_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193210854860.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193210877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,899.2,453.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "796e7ae080984a0ab2b96ce80f18ca3b_4d6fdad88b5b4a93a473975dc833acfa_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193210854860.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193210877893.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 <c3,CAM_FRONT,882.0,612.9>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,749.2,464.2>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,899.2,453.3>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "796e7ae080984a0ab2b96ce80f18ca3b_4d6fdad88b5b4a93a473975dc833acfa_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193210854860.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193210877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,899.2,453.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "796e7ae080984a0ab2b96ce80f18ca3b_4d6fdad88b5b4a93a473975dc833acfa_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193210854860.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193210877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,899.2,453.3>? 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": "796e7ae080984a0ab2b96ce80f18ca3b_4d6fdad88b5b4a93a473975dc833acfa_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193210854860.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193210877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,899.2,453.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "796e7ae080984a0ab2b96ce80f18ca3b_4d6fdad88b5b4a93a473975dc833acfa_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193210854860.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193210877893.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": "796e7ae080984a0ab2b96ce80f18ca3b_4d6fdad88b5b4a93a473975dc833acfa_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193210862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193210854860.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193210870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193210887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193210897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193210877893.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": "a2e3c0a763c04e56a5e26611eb69395b_95e001e4a26d4387a13c09627d504ac0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287028512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287028504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287028520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287028537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287028547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287028528113.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 pickup truck to the back of the ego vehicle, a white van to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a black pickup truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,800.8,490.8>, <c2,CAM_FRONT,402.5,503.3>, <c3,CAM_BACK,840.0,488.3>, and <c4,CAM_FRONT,736.7,499.2>."
            }
        ]
    },
    {
        "id": "a2e3c0a763c04e56a5e26611eb69395b_95e001e4a26d4387a13c09627d504ac0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287028512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287028504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287028520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287028537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287028547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287028528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,402.5,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "a2e3c0a763c04e56a5e26611eb69395b_95e001e4a26d4387a13c09627d504ac0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287028512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287028504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287028520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287028537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287028547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287028528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,800.8,490.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a2e3c0a763c04e56a5e26611eb69395b_95e001e4a26d4387a13c09627d504ac0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287028512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287028504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287028520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287028537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287028547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287028528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,800.8,490.8>? 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": "a2e3c0a763c04e56a5e26611eb69395b_95e001e4a26d4387a13c09627d504ac0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287028512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287028504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287028520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287028537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287028547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287028528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,402.5,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "a2e3c0a763c04e56a5e26611eb69395b_95e001e4a26d4387a13c09627d504ac0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287028512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287028504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287028520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287028537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287028547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287028528113.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": "a2e3c0a763c04e56a5e26611eb69395b_95e001e4a26d4387a13c09627d504ac0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287028512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287028504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287028520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287028537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287028547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287028528113.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_e3822333607844f8afdc115dbcc24ddc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290880262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290880254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290880270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290880287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290880297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290880278113.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 sedan to the front of the ego vehicle, and a red car to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,720.0,517.5>, <c2,CAM_FRONT,912.5,556.7>, and <c3,CAM_BACK_LEFT,316.7,668.3>."
            }
        ]
    },
    {
        "id": "e329b73341204af7a9de29e65291ce1c_e3822333607844f8afdc115dbcc24ddc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290880262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290880254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290880270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290880287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290880297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290880278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,720.0,517.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "e329b73341204af7a9de29e65291ce1c_e3822333607844f8afdc115dbcc24ddc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290880262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290880254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290880270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290880287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290880297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290880278113.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 <c2,CAM_FRONT,912.5,556.7>; it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_BACK_LEFT,316.7,668.3>; it is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c1,CAM_BACK,720.0,517.5>; the object is turning right, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "e329b73341204af7a9de29e65291ce1c_e3822333607844f8afdc115dbcc24ddc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290880262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290880254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290880270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290880287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290880297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290880278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,720.0,517.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e329b73341204af7a9de29e65291ce1c_e3822333607844f8afdc115dbcc24ddc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290880262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290880254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290880270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290880287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290880297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290880278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,720.0,517.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep going at the same speed because the object has little reference value for the ego vehicle. The probability of taking this action is high."
            }
        ]
    },
    {
        "id": "e329b73341204af7a9de29e65291ce1c_e3822333607844f8afdc115dbcc24ddc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290880262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290880254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290880270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290880287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290880297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290880278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,720.0,517.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "e329b73341204af7a9de29e65291ce1c_e3822333607844f8afdc115dbcc24ddc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290880262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290880254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290880270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290880287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290880297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290880278113.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": "e329b73341204af7a9de29e65291ce1c_e3822333607844f8afdc115dbcc24ddc_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290880262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290880254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290880270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290880287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290880297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290880278113.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": "e329b73341204af7a9de29e65291ce1c_cffc0e2b8c78429191e64ca85660f9eb_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290883362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290883354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290883370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290883387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290883397419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290883378113.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 and gray sedan to the front of the ego vehicle, and a gray sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,769.2,526.7>, <c2,CAM_FRONT,821.7,570.8>, and <c3,CAM_FRONT,435.0,568.3>."
            }
        ]
    },
    {
        "id": "e329b73341204af7a9de29e65291ce1c_cffc0e2b8c78429191e64ca85660f9eb_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290883362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290883354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290883370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290883387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290883397419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290883378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,769.2,526.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e329b73341204af7a9de29e65291ce1c_cffc0e2b8c78429191e64ca85660f9eb_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290883362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290883354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290883370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290883387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290883397419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290883378113.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 <c3,CAM_FRONT,435.0,568.3>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c2,CAM_FRONT,821.7,570.8>. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_BACK,769.2,526.7>. It is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "e329b73341204af7a9de29e65291ce1c_cffc0e2b8c78429191e64ca85660f9eb_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290883362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290883354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290883370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290883387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290883397419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290883378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,769.2,526.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e329b73341204af7a9de29e65291ce1c_cffc0e2b8c78429191e64ca85660f9eb_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290883362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290883354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290883370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290883387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290883397419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290883378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,769.2,526.7>? 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": "e329b73341204af7a9de29e65291ce1c_cffc0e2b8c78429191e64ca85660f9eb_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290883362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290883354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290883370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290883387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290883397419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290883378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,769.2,526.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "e329b73341204af7a9de29e65291ce1c_cffc0e2b8c78429191e64ca85660f9eb_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290883362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290883354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290883370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290883387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290883397419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290883378113.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": "e329b73341204af7a9de29e65291ce1c_cffc0e2b8c78429191e64ca85660f9eb_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290883362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290883354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290883370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290883387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290883397419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290883378113.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": "e209e66ff7834490b212c16cb12a1ce9_f5052fdb45a442c685828acb09d86dc2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573631262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573631254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573631270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573631287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573631297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573631278113.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 and white roadblock to the back of the ego vehicle, a blue sedan to the back of the ego vehicle, a white truck to the back right of the ego vehicle, a white truck to the back of the ego vehicle, a brown SUV to the front of the ego vehicle, and a red and black traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,77.5,813.3>, <c2,CAM_BACK,817.5,674.2>, <c3,CAM_BACK_RIGHT,803.7,441.0>, <c4,CAM_BACK,416.7,501.7>, <c5,CAM_FRONT,869.4,607.8>, and <c6,CAM_FRONT,1058.5,367.7>."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_f5052fdb45a442c685828acb09d86dc2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573631262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573631254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573631270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573631287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573631297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573631278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c5,CAM_FRONT,869.4,607.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_f5052fdb45a442c685828acb09d86dc2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573631262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573631254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573631270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573631287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573631297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573631278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,77.5,813.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_f5052fdb45a442c685828acb09d86dc2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573631262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573631254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573631270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573631287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573631297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573631278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_BACK,817.5,674.2>? 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. The probability of taking this action is high."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_f5052fdb45a442c685828acb09d86dc2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573631262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573631254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573631270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573631287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573631297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573631278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,817.5,674.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_f5052fdb45a442c685828acb09d86dc2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573631262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573631254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573631270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573631287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573631297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573631278113.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": "e209e66ff7834490b212c16cb12a1ce9_f5052fdb45a442c685828acb09d86dc2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573631262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573631254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573631270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573631287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573631297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573631278113.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": "e209e66ff7834490b212c16cb12a1ce9_ae26303a5e504a858c41c069876844ca_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573643178113.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 black SUV to the front of the ego vehicle, and a pedestrian to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,493.6,543.3>, <c2,CAM_FRONT,841.7,550.0>, and <c3,CAM_FRONT_RIGHT,720.0,565.0>."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_ae26303a5e504a858c41c069876844ca_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573643178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,493.6,543.3>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_ae26303a5e504a858c41c069876844ca_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573643178113.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 <c3,CAM_FRONT_RIGHT,720.0,565.0>. It is going ahead, so the ego vehicle should continue at the same speed. Secondly, notice <c2,CAM_FRONT,841.7,550.0>. It is stationary, so the ego vehicle should turn right. Thirdly, notice <c1,CAM_BACK,493.6,543.3>. It is turning right, so the ego vehicle should also turn right."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_ae26303a5e504a858c41c069876844ca_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573643178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,493.6,543.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_ae26303a5e504a858c41c069876844ca_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573643178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,493.6,543.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_ae26303a5e504a858c41c069876844ca_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573643178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,493.6,543.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_ae26303a5e504a858c41c069876844ca_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573643178113.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 right and decelerate gradually without braking are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_ae26303a5e504a858c41c069876844ca_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573643178113.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": "e209e66ff7834490b212c16cb12a1ce9_313bd1121da9493cbd23c14c304ddfbc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573635262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573635254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573635270493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573635287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573635297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573635278113.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 traffic cone to the back of the ego vehicle, a blue-green car to the back of the ego vehicle, a white truck to the back right of the ego vehicle, a black SUV to the front of the ego vehicle, a black car to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,276.7,781.7>, <c2,CAM_BACK,842.2,641.9>, <c3,CAM_BACK_RIGHT,806.7,489.6>, <c4,CAM_FRONT,180.8,545.8>, <c5,CAM_FRONT,781.7,530.0>, and <c6,CAM_FRONT,1063.3,378.0>."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_313bd1121da9493cbd23c14c304ddfbc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573635262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573635254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573635270493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573635287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573635297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573635278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,842.2,641.9>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_313bd1121da9493cbd23c14c304ddfbc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573635262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573635254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573635270493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573635287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573635297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573635278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,276.7,781.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_313bd1121da9493cbd23c14c304ddfbc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573635262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573635254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573635270493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573635287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573635297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573635278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_BACK,842.2,641.9>? 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": "e209e66ff7834490b212c16cb12a1ce9_313bd1121da9493cbd23c14c304ddfbc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573635262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573635254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573635270493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573635287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573635297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573635278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,842.2,641.9>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "e209e66ff7834490b212c16cb12a1ce9_313bd1121da9493cbd23c14c304ddfbc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573635262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573635254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573635270493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573635287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573635297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573635278113.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": "e209e66ff7834490b212c16cb12a1ce9_313bd1121da9493cbd23c14c304ddfbc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573635262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573635254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573635270493.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573635287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573635297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573635278113.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": "7bcc4753bdb64d2cb407b55cc4e4527f_e6c3de3a341b4a869eae19f66cd55032_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202635612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202635604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202635620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202635637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202635647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202635627893.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 construction vehicle to the front left of the ego vehicle, a white sedan to the front of the ego vehicle, a person on the roadside to the front right of the ego vehicle, a gray sedan to the back of the ego vehicle, and a yellow light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1308.3,466.7>, <c2,CAM_FRONT,648.3,525.8>, <c3,CAM_FRONT_RIGHT,434.2,576.7>, <c4,CAM_BACK,786.7,567.5>, and <c5,CAM_FRONT,670.0,326.8>."
            }
        ]
    },
    {
        "id": "7bcc4753bdb64d2cb407b55cc4e4527f_e6c3de3a341b4a869eae19f66cd55032_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202635612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202635604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202635620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202635637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202635647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202635627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,648.3,525.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7bcc4753bdb64d2cb407b55cc4e4527f_e6c3de3a341b4a869eae19f66cd55032_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202635612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202635604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202635620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202635637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202635647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202635627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1308.3,466.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7bcc4753bdb64d2cb407b55cc4e4527f_e6c3de3a341b4a869eae19f66cd55032_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202635612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202635604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202635620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202635637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202635647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202635627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1308.3,466.7>? 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, high."
            }
        ]
    },
    {
        "id": "7bcc4753bdb64d2cb407b55cc4e4527f_e6c3de3a341b4a869eae19f66cd55032_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202635612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202635604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202635620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202635637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202635647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202635627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1308.3,466.7>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "7bcc4753bdb64d2cb407b55cc4e4527f_e6c3de3a341b4a869eae19f66cd55032_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202635612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202635604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202635620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202635637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202635647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202635627893.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; brake gently to a stop."
            }
        ]
    },
    {
        "id": "7bcc4753bdb64d2cb407b55cc4e4527f_e6c3de3a341b4a869eae19f66cd55032_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202635612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202635604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202635620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202635637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202635647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202635627893.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": "7bcc4753bdb64d2cb407b55cc4e4527f_34d47c84b8bf4deba19b63fd38e0a907_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202642762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202642754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202642770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202642787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202642797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202642777893.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 shirt pedestrian to the front of the ego vehicle, a white truck to the front right of the ego vehicle, a pedestrian in a gray top to the front of the ego vehicle, a pedestrian in black top to the front right of the ego vehicle, and a person riding a motorcycle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,824.2,565.0>, <c2,CAM_FRONT_RIGHT,1291.4,563.1>, <c3,CAM_FRONT,1394.2,630.8>, <c4,CAM_FRONT_RIGHT,682.5,572.5>, and <c5,CAM_FRONT,1230.8,533.3>."
            }
        ]
    },
    {
        "id": "7bcc4753bdb64d2cb407b55cc4e4527f_34d47c84b8bf4deba19b63fd38e0a907_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202642762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202642754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202642770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202642787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202642797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202642777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,824.2,565.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7bcc4753bdb64d2cb407b55cc4e4527f_34d47c84b8bf4deba19b63fd38e0a907_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202642762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202642754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202642770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202642787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202642797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202642777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,824.2,565.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7bcc4753bdb64d2cb407b55cc4e4527f_34d47c84b8bf4deba19b63fd38e0a907_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202642762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202642754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202642770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202642787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202642797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202642777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,824.2,565.0>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary, the reason is to follow the traffic rules, and the probability is high."
            }
        ]
    },
    {
        "id": "7bcc4753bdb64d2cb407b55cc4e4527f_34d47c84b8bf4deba19b63fd38e0a907_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202642762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202642754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202642770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202642787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202642797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202642777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,824.2,565.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "7bcc4753bdb64d2cb407b55cc4e4527f_34d47c84b8bf4deba19b63fd38e0a907_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202642762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202642754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202642770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202642787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202642797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202642777893.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, or slightly offset to the left."
            }
        ]
    },
    {
        "id": "7bcc4753bdb64d2cb407b55cc4e4527f_34d47c84b8bf4deba19b63fd38e0a907_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202642762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202642754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202642770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202642787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202642797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202642777893.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": "c6da5920d2bc459bb3bc51ee6b9fdd7e_dc39dafa7a1941579c454fe45692b765_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729408928113.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 pickup truck to the front of the ego vehicle, a white sedan to the back left of the ego vehicle, a brown bus to the back of the ego vehicle, and a black sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,726.7,452.5>, <c2,CAM_FRONT,1045.8,485.8>, <c3,CAM_BACK_LEFT,1275.0,608.3>, <c4,CAM_BACK,822.5,500.0>, and <c5,CAM_FRONT_RIGHT,473.3,568.3>."
            }
        ]
    },
    {
        "id": "c6da5920d2bc459bb3bc51ee6b9fdd7e_dc39dafa7a1941579c454fe45692b765_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729408928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,726.7,452.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c6da5920d2bc459bb3bc51ee6b9fdd7e_dc39dafa7a1941579c454fe45692b765_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729408928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,726.7,452.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c6da5920d2bc459bb3bc51ee6b9fdd7e_dc39dafa7a1941579c454fe45692b765_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729408928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,726.7,452.5>? 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": "c6da5920d2bc459bb3bc51ee6b9fdd7e_dc39dafa7a1941579c454fe45692b765_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729408928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,726.7,452.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "c6da5920d2bc459bb3bc51ee6b9fdd7e_dc39dafa7a1941579c454fe45692b765_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729408928113.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 left lane."
            }
        ]
    },
    {
        "id": "c6da5920d2bc459bb3bc51ee6b9fdd7e_dc39dafa7a1941579c454fe45692b765_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729408928113.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": "7540f31d12f1439db67a50be7726c70d_d408c7de69ab443b83a8490456263d4b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729554912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729554904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729554920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729554937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729554947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729554928113.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 of the ego vehicle, a black sedan to the front of the ego vehicle, a black sedan to the front right of the ego vehicle, a black car to the back of the ego vehicle, a black bus to the front right of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,404.2,536.7>, <c2,CAM_FRONT,735.8,486.7>, <c3,CAM_FRONT_RIGHT,1229.0,625.2>, <c4,CAM_BACK,635.0,534.2>, <c5,CAM_FRONT_RIGHT,30.8,437.5>, and <c6,CAM_FRONT,800.0,362.6>."
            }
        ]
    },
    {
        "id": "7540f31d12f1439db67a50be7726c70d_d408c7de69ab443b83a8490456263d4b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729554912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729554904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729554920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729554937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729554947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729554928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,404.2,536.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7540f31d12f1439db67a50be7726c70d_d408c7de69ab443b83a8490456263d4b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729554912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729554904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729554920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729554937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729554947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729554928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,404.2,536.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7540f31d12f1439db67a50be7726c70d_d408c7de69ab443b83a8490456263d4b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729554912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729554904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729554920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729554937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729554947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729554928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,404.2,536.7>? 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": "7540f31d12f1439db67a50be7726c70d_d408c7de69ab443b83a8490456263d4b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729554912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729554904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729554920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729554937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729554947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729554928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,735.8,486.7>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "7540f31d12f1439db67a50be7726c70d_d408c7de69ab443b83a8490456263d4b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729554912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729554904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729554920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729554937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729554947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729554928113.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": "7540f31d12f1439db67a50be7726c70d_d408c7de69ab443b83a8490456263d4b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729554912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729554904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729554920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729554937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729554947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729554928113.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": "7540f31d12f1439db67a50be7726c70d_7323900077cf41a2b05c345adcd3ca05_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729565412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729565404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729565420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729565437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729565447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729565428113.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 man wearing a dark green shirt to the front right of the ego vehicle, a white 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 <c1,CAM_FRONT_RIGHT,149.2,595.0>, <c2,CAM_FRONT_LEFT,1380.1,565.0>, and <c3,CAM_FRONT,434.2,514.2>."
            }
        ]
    },
    {
        "id": "7540f31d12f1439db67a50be7726c70d_7323900077cf41a2b05c345adcd3ca05_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729565412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729565404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729565420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729565437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729565447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729565428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,1380.1,565.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7540f31d12f1439db67a50be7726c70d_7323900077cf41a2b05c345adcd3ca05_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729565412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729565404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729565420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729565437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729565447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729565428113.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 <c2,CAM_FRONT_LEFT,1380.1,565.0>. It is going ahead, so the ego vehicle should continue at the same speed. Secondly, notice <c3,CAM_FRONT,434.2,514.2>. It is also going ahead, so the ego vehicle should maintain the same speed. Thirdly, notice <c1,CAM_FRONT_RIGHT,149.2,595.0>. It is stationary, so the ego vehicle should remain stationary continue at the same speed."
            }
        ]
    },
    {
        "id": "7540f31d12f1439db67a50be7726c70d_7323900077cf41a2b05c345adcd3ca05_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729565412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729565404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729565420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729565437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729565447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729565428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,149.2,595.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7540f31d12f1439db67a50be7726c70d_7323900077cf41a2b05c345adcd3ca05_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729565412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729565404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729565420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729565437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729565447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729565428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,149.2,595.0>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "7540f31d12f1439db67a50be7726c70d_7323900077cf41a2b05c345adcd3ca05_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729565412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729565404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729565420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729565437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729565447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729565428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,149.2,595.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "7540f31d12f1439db67a50be7726c70d_7323900077cf41a2b05c345adcd3ca05_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729565412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729565404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729565420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729565437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729565447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729565428113.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 continue ahead."
            }
        ]
    },
    {
        "id": "7540f31d12f1439db67a50be7726c70d_7323900077cf41a2b05c345adcd3ca05_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729565412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729565404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729565420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729565437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729565447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729565428113.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": "d825d5544592463e8c138473502dfeea_25c8961f25af441289647d836602e643_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202389512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202389504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202389520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202389537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202389547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202389527893.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 small car to the front right of the ego vehicle, a white truck to the front of the ego vehicle, a white bicycle to the front right of the ego vehicle, and a left turn straight mixed lane to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,101.1,651.1>, <c2,CAM_FRONT,774.2,467.5>, <c3,CAM_FRONT_RIGHT,897.5,645.0>, and <c4,CAM_FRONT,842.3,640.2>."
            }
        ]
    },
    {
        "id": "d825d5544592463e8c138473502dfeea_25c8961f25af441289647d836602e643_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202389512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202389504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202389520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202389537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202389547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202389527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,774.2,467.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "d825d5544592463e8c138473502dfeea_25c8961f25af441289647d836602e643_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202389512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202389504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202389520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202389537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202389547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202389527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,101.1,651.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d825d5544592463e8c138473502dfeea_25c8961f25af441289647d836602e643_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202389512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202389504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202389520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202389537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202389547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202389527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,101.1,651.1>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "d825d5544592463e8c138473502dfeea_25c8961f25af441289647d836602e643_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202389512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202389504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202389520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202389537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202389547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202389527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,101.1,651.1>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "d825d5544592463e8c138473502dfeea_25c8961f25af441289647d836602e643_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202389512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202389504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202389520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202389537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202389547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202389527893.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 ahead."
            }
        ]
    },
    {
        "id": "d825d5544592463e8c138473502dfeea_25c8961f25af441289647d836602e643_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202389512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202389504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202389520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202389537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202389547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202389527893.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": "277af8c7487f4f24bd2953d4dc8d11ff_9ece6aeaa2984a22a880220b05bb2c23_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800329412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800329404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800329420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800329437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800329447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800329427893.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 and white bus 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 <c1,CAM_BACK,636.7,495.8>, <c2,CAM_FRONT_RIGHT,334.9,527.5>, and <c3,CAM_FRONT,818.3,504.2>."
            }
        ]
    },
    {
        "id": "277af8c7487f4f24bd2953d4dc8d11ff_9ece6aeaa2984a22a880220b05bb2c23_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800329412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800329404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800329420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800329437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800329447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800329427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,636.7,495.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "277af8c7487f4f24bd2953d4dc8d11ff_9ece6aeaa2984a22a880220b05bb2c23_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800329412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800329404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800329420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800329437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800329447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800329427893.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 <c3,CAM_FRONT,818.3,504.2>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT_RIGHT,334.9,527.5>; it is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,636.7,495.8>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "277af8c7487f4f24bd2953d4dc8d11ff_9ece6aeaa2984a22a880220b05bb2c23_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800329412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800329404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800329420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800329437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800329447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800329427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,636.7,495.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "277af8c7487f4f24bd2953d4dc8d11ff_9ece6aeaa2984a22a880220b05bb2c23_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800329412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800329404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800329420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800329437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800329447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800329427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,636.7,495.8>? 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": "277af8c7487f4f24bd2953d4dc8d11ff_9ece6aeaa2984a22a880220b05bb2c23_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800329412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800329404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800329420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800329437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800329447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800329427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,636.7,495.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "277af8c7487f4f24bd2953d4dc8d11ff_9ece6aeaa2984a22a880220b05bb2c23_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800329412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800329404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800329420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800329437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800329447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800329427893.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": "277af8c7487f4f24bd2953d4dc8d11ff_9ece6aeaa2984a22a880220b05bb2c23_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800329412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800329404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800329420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800329437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800329447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800329427893.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": "277af8c7487f4f24bd2953d4dc8d11ff_9ffd0d6103844a6cb3f217b8a02885ca_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800337412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800337404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800337420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800337437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800337447462.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800337427893.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 motorcycle to the front right of the ego vehicle, a white sedan to the back of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,291.7,590.0>, <c2,CAM_BACK,628.3,538.3>, and <c3,CAM_FRONT,841.7,519.2>."
            }
        ]
    },
    {
        "id": "277af8c7487f4f24bd2953d4dc8d11ff_9ffd0d6103844a6cb3f217b8a02885ca_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800337412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800337404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800337420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800337437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800337447462.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800337427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,628.3,538.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "277af8c7487f4f24bd2953d4dc8d11ff_9ffd0d6103844a6cb3f217b8a02885ca_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800337412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800337404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800337420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800337437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800337447462.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800337427893.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 <c1,CAM_FRONT_RIGHT,291.7,590.0>; it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_FRONT,841.7,519.2>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK,628.3,538.3>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "277af8c7487f4f24bd2953d4dc8d11ff_9ffd0d6103844a6cb3f217b8a02885ca_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800337412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800337404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800337420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800337437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800337447462.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800337427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,291.7,590.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "277af8c7487f4f24bd2953d4dc8d11ff_9ffd0d6103844a6cb3f217b8a02885ca_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800337412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800337404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800337420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800337437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800337447462.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800337427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,291.7,590.0>? 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": "277af8c7487f4f24bd2953d4dc8d11ff_9ffd0d6103844a6cb3f217b8a02885ca_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800337412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800337404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800337420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800337437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800337447462.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800337427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,291.7,590.0>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "277af8c7487f4f24bd2953d4dc8d11ff_9ffd0d6103844a6cb3f217b8a02885ca_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800337412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800337404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800337420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800337437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800337447462.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800337427893.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": "277af8c7487f4f24bd2953d4dc8d11ff_9ffd0d6103844a6cb3f217b8a02885ca_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800337412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800337404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800337420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800337437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800337447462.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800337427893.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": "d9a3087bab26405cb005221b979edd39_0717024043fd41f78251cdb61395da61_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488376762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488376754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488376770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488376787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488376797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488376778113.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 brown SUV to the front of the ego vehicle, a silver SUV to the back of the ego vehicle, a blue sedan car to the front right of the ego vehicle, a white SUV to the front left of the ego vehicle, and a gray pickup truck to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,760.8,570.8>, <c2,CAM_BACK,730.9,587.5>, <c3,CAM_FRONT_RIGHT,819.3,731.7>, <c4,CAM_FRONT_LEFT,1097.5,553.3>, and <c5,CAM_BACK_LEFT,815.0,660.8>."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_0717024043fd41f78251cdb61395da61_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488376762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488376754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488376770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488376787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488376797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488376778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,760.8,570.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_0717024043fd41f78251cdb61395da61_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488376762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488376754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488376770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488376787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488376797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488376778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,760.8,570.8>? 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": "d9a3087bab26405cb005221b979edd39_0717024043fd41f78251cdb61395da61_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488376762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488376754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488376770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488376787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488376797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488376778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,760.8,570.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,760.8,570.8>."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_0717024043fd41f78251cdb61395da61_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488376762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488376754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488376770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488376787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488376797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488376778113.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, brake suddenly."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_0717024043fd41f78251cdb61395da61_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488376762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488376754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488376770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488376787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488376797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488376778113.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": "d9a3087bab26405cb005221b979edd39_7ccc975f3b574fe6a152f00bd119a54f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488385912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488385904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488385920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488385937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488385947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488385928113.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 brown SUV to the front of the ego vehicle, a white SUV to the front left of the ego vehicle, a blue car to the front right of the ego vehicle, a black sedan to the front of the ego vehicle, a gray pickup truck to the back left of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,786.3,580.2>, <c2,CAM_FRONT_LEFT,990.0,672.5>, <c3,CAM_FRONT_RIGHT,810.7,741.6>, <c4,CAM_FRONT,428.3,515.0>, <c5,CAM_BACK_LEFT,815.0,651.7>, and <c6,CAM_FRONT,906.5,299.9>."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_7ccc975f3b574fe6a152f00bd119a54f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488385912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488385904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488385920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488385937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488385947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488385928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,786.3,580.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_7ccc975f3b574fe6a152f00bd119a54f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488385912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488385904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488385920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488385937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488385947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488385928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,786.3,580.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_7ccc975f3b574fe6a152f00bd119a54f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488385912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488385904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488385920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488385937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488385947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488385928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,786.3,580.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary to avoid a collision, with a high probability."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_7ccc975f3b574fe6a152f00bd119a54f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488385912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488385904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488385920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488385937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488385947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488385928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,786.3,580.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,786.3,580.2>."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_7ccc975f3b574fe6a152f00bd119a54f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488385912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488385904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488385920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488385937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488385947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488385928113.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, brake suddenly."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_7ccc975f3b574fe6a152f00bd119a54f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488385912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488385904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488385920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488385937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488385947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488385928113.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": "d9a3087bab26405cb005221b979edd39_cb572f1945ec44ef9c24426a9dff54c0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488393412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488393404805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488393420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488393437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488393447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488393428113.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 dark blue SUV to the front left of the ego vehicle, a gray sedan to the front of the ego vehicle, a white commercial vehicle to the back of the ego vehicle, a white SUV to the back of the ego vehicle, a dark blue sedan to the front of the ego vehicle, and a dark blue SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1018.3,633.3>, <c2,CAM_FRONT,285.0,608.3>, <c3,CAM_BACK,325.8,577.5>, <c4,CAM_BACK,797.5,516.7>, <c5,CAM_FRONT,1272.5,616.7>, and <c6,CAM_FRONT_RIGHT,1128.3,553.3>."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_cb572f1945ec44ef9c24426a9dff54c0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488393412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488393404805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488393420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488393437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488393447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488393428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1018.3,633.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_cb572f1945ec44ef9c24426a9dff54c0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488393412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488393404805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488393420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488393437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488393447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488393428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1018.3,633.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_cb572f1945ec44ef9c24426a9dff54c0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488393412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488393404805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488393420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488393437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488393447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488393428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1018.3,633.3>? 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": "d9a3087bab26405cb005221b979edd39_cb572f1945ec44ef9c24426a9dff54c0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488393412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488393404805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488393420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488393437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488393447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488393428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1018.3,633.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_cb572f1945ec44ef9c24426a9dff54c0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488393412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488393404805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488393420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488393437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488393447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488393428113.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": "d9a3087bab26405cb005221b979edd39_cb572f1945ec44ef9c24426a9dff54c0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488393412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488393404805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488393420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488393437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488393447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488393428113.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": "d9a3087bab26405cb005221b979edd39_f45b67707863435481d88c96ce5475d7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488379862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488379854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488379870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488379887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488379897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488379878113.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 and green SUV to the front of the ego vehicle, a black sedan car to the front left of the ego vehicle, a white motorhome to the front right of the ego vehicle, a silver sedan to the back of the ego vehicle, a black 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 <c1,CAM_FRONT,759.2,560.8>, <c2,CAM_FRONT_LEFT,1462.5,577.5>, <c3,CAM_FRONT_RIGHT,167.5,448.3>, <c4,CAM_BACK,733.7,556.7>, <c5,CAM_FRONT_RIGHT,825.5,730.8>, and <c6,CAM_FRONT,848.9,292.5>."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_f45b67707863435481d88c96ce5475d7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488379862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488379854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488379870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488379887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488379897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488379878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,1462.5,577.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_f45b67707863435481d88c96ce5475d7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488379862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488379854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488379870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488379887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488379897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488379878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,759.2,560.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_f45b67707863435481d88c96ce5475d7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488379862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488379854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488379870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488379887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488379897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488379878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,759.2,560.8>? 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 maintain a safe distance, which is considered to be high."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_f45b67707863435481d88c96ce5475d7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488379862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488379854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488379870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488379887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488379897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488379878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,759.2,560.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_f45b67707863435481d88c96ce5475d7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488379862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488379854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488379870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488379887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488379897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488379878113.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": "d9a3087bab26405cb005221b979edd39_f45b67707863435481d88c96ce5475d7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488379862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488379854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488379870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488379887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488379897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488379878113.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": "d9a3087bab26405cb005221b979edd39_8cacfbc91bfe422bb5f9b2c9993e15f6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488375762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488375754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488375770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488375787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488375797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488375778113.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 white motorhome to the front right of the ego vehicle, a gray SUV to the back of the ego vehicle, a white SUV to the front left of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,760.8,575.0>, <c2,CAM_FRONT_RIGHT,136.6,452.5>, <c3,CAM_BACK,742.4,582.4>, <c4,CAM_FRONT_LEFT,1097.5,553.3>, and <c5,CAM_FRONT,914.7,307.6>."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_8cacfbc91bfe422bb5f9b2c9993e15f6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488375762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488375754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488375770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488375787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488375797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488375778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,760.8,575.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_8cacfbc91bfe422bb5f9b2c9993e15f6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488375762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488375754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488375770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488375787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488375797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488375778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,760.8,575.0>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_8cacfbc91bfe422bb5f9b2c9993e15f6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488375762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488375754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488375770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488375787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488375797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488375778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,760.8,575.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_8cacfbc91bfe422bb5f9b2c9993e15f6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488375762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488375754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488375770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488375787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488375797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488375778113.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": "d9a3087bab26405cb005221b979edd39_8cacfbc91bfe422bb5f9b2c9993e15f6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488375762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488375754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488375770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488375787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488375797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488375778113.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": "d9a3087bab26405cb005221b979edd39_1c653bf5147842698b57cd19538fa77d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488378862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488378854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488378870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488378887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488378897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488378878113.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 person with backpack to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, a white commercial vehicle to the front right of the ego vehicle, a silver sedan to the back of the ego vehicle, and a black pickup truck to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,759.2,564.2>, <c2,CAM_FRONT_LEFT,813.3,522.5>, <c3,CAM_FRONT,378.3,530.8>, <c4,CAM_FRONT_RIGHT,169.2,450.0>, <c5,CAM_BACK,718.3,587.5>, and <c6,CAM_BACK_LEFT,827.3,642.4>."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_1c653bf5147842698b57cd19538fa77d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488378862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488378854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488378870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488378887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488378897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488378878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,813.3,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_1c653bf5147842698b57cd19538fa77d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488378862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488378854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488378870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488378887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488378897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488378878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,759.2,564.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_1c653bf5147842698b57cd19538fa77d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488378862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488378854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488378870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488378887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488378897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488378878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,759.2,564.2>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_1c653bf5147842698b57cd19538fa77d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488378862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488378854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488378870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488378887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488378897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488378878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,759.2,564.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_1c653bf5147842698b57cd19538fa77d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488378862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488378854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488378870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488378887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488378897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488378878113.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; keep going at the same speed."
            }
        ]
    },
    {
        "id": "d9a3087bab26405cb005221b979edd39_1c653bf5147842698b57cd19538fa77d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488378862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488378854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488378870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488378887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488378897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488378878113.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": "d4d2faa310a748dda508d15c6d5c4244_ed89a46c30574c0eb714d5552abef439_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194108662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194108654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194108670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194108687532.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194108697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194108677899.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 running pedestrian to the back left of the ego vehicle, a person riding a motorcycle to the front of the ego vehicle, a pedestrian crossing the road to the front of the ego vehicle, a silver gray sedan to the front of the ego vehicle, and a cannot see clearly to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,847.5,600.0>, <c2,CAM_FRONT,563.3,546.7>, <c3,CAM_FRONT,818.3,541.7>, <c4,CAM_FRONT,723.3,536.7>, and <c5,CAM_BACK,838.9,527.5>."
            }
        ]
    },
    {
        "id": "d4d2faa310a748dda508d15c6d5c4244_ed89a46c30574c0eb714d5552abef439_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194108662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194108654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194108670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194108687532.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194108697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194108677899.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_LEFT,847.5,600.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d4d2faa310a748dda508d15c6d5c4244_ed89a46c30574c0eb714d5552abef439_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194108662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194108654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194108670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194108687532.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194108697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194108677899.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,847.5,600.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d4d2faa310a748dda508d15c6d5c4244_ed89a46c30574c0eb714d5552abef439_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194108662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194108654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194108670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194108687532.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194108697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194108677899.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,847.5,600.0>? 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": "d4d2faa310a748dda508d15c6d5c4244_ed89a46c30574c0eb714d5552abef439_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194108662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194108654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194108670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194108687532.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194108697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194108677899.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,847.5,600.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "d4d2faa310a748dda508d15c6d5c4244_ed89a46c30574c0eb714d5552abef439_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194108662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194108654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194108670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194108687532.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194108697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194108677899.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 left."
            }
        ]
    },
    {
        "id": "d4d2faa310a748dda508d15c6d5c4244_ed89a46c30574c0eb714d5552abef439_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194108662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194108654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194108670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194108687532.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194108697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194108677899.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": "6f5133fe62b240e797bac25aeff8b531_9f3ef9d1ec7345e4a52628b8ea64abae_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884105112464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884105104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884105120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884105137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884105147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884105127893.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 front of the ego vehicle, a yellow car to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1231.7,551.7>, <c2,CAM_FRONT,372.8,601.5>, and <c3,CAM_FRONT,1155.4,423.3>."
            }
        ]
    },
    {
        "id": "6f5133fe62b240e797bac25aeff8b531_9f3ef9d1ec7345e4a52628b8ea64abae_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884105112464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884105104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884105120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884105137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884105147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884105127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,372.8,601.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6f5133fe62b240e797bac25aeff8b531_9f3ef9d1ec7345e4a52628b8ea64abae_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884105112464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884105104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884105120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884105137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884105147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884105127893.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 <c3,CAM_FRONT,1155.4,423.3>. The object is a traffic sign and the ego vehicle should turn right. Secondly notice that <c2,CAM_FRONT,372.8,601.5>. The object is going ahead and the ego vehicle should slow down and go ahead. Thirdly notice that <c1,CAM_FRONT,1231.7,551.7>. The object is stationary and the ego vehicle should turn right."
            }
        ]
    },
    {
        "id": "6f5133fe62b240e797bac25aeff8b531_9f3ef9d1ec7345e4a52628b8ea64abae_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884105112464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884105104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884105120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884105137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884105147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884105127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1231.7,551.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6f5133fe62b240e797bac25aeff8b531_9f3ef9d1ec7345e4a52628b8ea64abae_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884105112464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884105104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884105120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884105137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884105147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884105127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1231.7,551.7>? 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": "6f5133fe62b240e797bac25aeff8b531_9f3ef9d1ec7345e4a52628b8ea64abae_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884105112464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884105104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884105120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884105137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884105147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884105127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1231.7,551.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "6f5133fe62b240e797bac25aeff8b531_9f3ef9d1ec7345e4a52628b8ea64abae_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884105112464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884105104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884105120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884105137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884105147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884105127893.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": "6f5133fe62b240e797bac25aeff8b531_9f3ef9d1ec7345e4a52628b8ea64abae_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884105112464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884105104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884105120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884105137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884105147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884105127893.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": "68fc5e3698a544d1bdf5847b88ad77d4_c4c8741ec8b645e4ae01dc0a3a792a52_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985854412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985854404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985854420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985854437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985854447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985854427893.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 front of the ego vehicle, a white sedan to the back of the ego vehicle, a gray sedan to the back of the ego vehicle, and a slow down to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,656.7,489.2>, <c2,CAM_BACK,1065.0,500.0>, <c3,CAM_BACK,800.0,548.3>, and <c4,CAM_FRONT,796.2,676.3>."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_c4c8741ec8b645e4ae01dc0a3a792a52_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985854412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985854404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985854420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985854437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985854447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985854427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,656.7,489.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_c4c8741ec8b645e4ae01dc0a3a792a52_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985854412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985854404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985854420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985854437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985854447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985854427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,656.7,489.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_c4c8741ec8b645e4ae01dc0a3a792a52_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985854412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985854404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985854420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985854437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985854447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985854427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,656.7,489.2>? 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": "68fc5e3698a544d1bdf5847b88ad77d4_c4c8741ec8b645e4ae01dc0a3a792a52_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985854412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985854404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985854420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985854437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985854447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985854427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,656.7,489.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_c4c8741ec8b645e4ae01dc0a3a792a52_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985854412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985854404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985854420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985854437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985854447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985854427893.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": "68fc5e3698a544d1bdf5847b88ad77d4_c4c8741ec8b645e4ae01dc0a3a792a52_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985854412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985854404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985854420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985854437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985854447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985854427893.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": "68fc5e3698a544d1bdf5847b88ad77d4_688942b7699c4df98a25ff49266df211_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985861412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985861404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985861420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985861437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985861447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985861427893.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 seahorse to the front left of the ego vehicle, a silver car to the front right of the ego vehicle, a white sedan to the back of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1392.5,663.3>, <c2,CAM_FRONT_RIGHT,1029.4,782.3>, <c3,CAM_BACK,867.5,508.3>, and <c4,CAM_BACK,783.3,517.5>."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_688942b7699c4df98a25ff49266df211_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985861412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985861404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985861420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985861437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985861447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985861427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1392.5,663.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_688942b7699c4df98a25ff49266df211_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985861412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985861404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985861420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985861437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985861447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985861427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1392.5,663.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_688942b7699c4df98a25ff49266df211_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985861412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985861404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985861420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985861437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985861447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985861427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1392.5,663.3>? 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": "68fc5e3698a544d1bdf5847b88ad77d4_688942b7699c4df98a25ff49266df211_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985861412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985861404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985861420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985861437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985861447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985861427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1392.5,663.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_688942b7699c4df98a25ff49266df211_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985861412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985861404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985861420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985861437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985861447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985861427893.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": "68fc5e3698a544d1bdf5847b88ad77d4_688942b7699c4df98a25ff49266df211_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985861412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985861404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985861420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985861437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985861447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985861427893.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": "68fc5e3698a544d1bdf5847b88ad77d4_5b241a48b40d47dfb747f91ed5768641_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985863912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985863904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985863920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985863937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985863948529.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985863927893.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 pants pedestrian to the front of the ego vehicle, a gray sedan to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,627.5,500.8>, <c2,CAM_FRONT,1256.7,606.7>, <c3,CAM_BACK,704.2,525.8>, and <c4,CAM_BACK,704.2,525.8>."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_5b241a48b40d47dfb747f91ed5768641_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985863912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985863904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985863920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985863937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985863948529.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985863927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,627.5,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_5b241a48b40d47dfb747f91ed5768641_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985863912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985863904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985863920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985863937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985863948529.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985863927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,627.5,500.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_5b241a48b40d47dfb747f91ed5768641_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985863912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985863904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985863920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985863937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985863948529.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985863927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,627.5,500.8>? 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": "68fc5e3698a544d1bdf5847b88ad77d4_5b241a48b40d47dfb747f91ed5768641_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985863912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985863904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985863920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985863937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985863948529.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985863927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,627.5,500.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_5b241a48b40d47dfb747f91ed5768641_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985863912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985863904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985863920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985863937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985863948529.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985863927893.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": "68fc5e3698a544d1bdf5847b88ad77d4_5b241a48b40d47dfb747f91ed5768641_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985863912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985863904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985863920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985863937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985863948529.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985863927893.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": "68fc5e3698a544d1bdf5847b88ad77d4_a4d36c546d914866ad63abe3c4cbb865_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985866862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985866854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985866870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985866887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985866897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985866877893.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 front of the ego vehicle, a pedestrian wearing black clothes to the back of the ego vehicle, a white sedan to the back of the ego vehicle, a black sedan car to the back of the ego vehicle, and a black car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,946.7,503.3>, <c2,CAM_BACK,1227.5,554.2>, <c3,CAM_BACK,741.7,520.8>, <c4,CAM_BACK,580.0,576.7>, and <c5,CAM_BACK,580.0,576.7>."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_a4d36c546d914866ad63abe3c4cbb865_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985866862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985866854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985866870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985866887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985866897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985866877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,1227.5,554.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_a4d36c546d914866ad63abe3c4cbb865_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985866862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985866854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985866870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985866887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985866897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985866877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,946.7,503.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_a4d36c546d914866ad63abe3c4cbb865_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985866862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985866854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985866870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985866887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985866897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985866877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,946.7,503.3>? 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": "68fc5e3698a544d1bdf5847b88ad77d4_a4d36c546d914866ad63abe3c4cbb865_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985866862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985866854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985866870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985866887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985866897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985866877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,946.7,503.3>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT,946.7,503.3>."
            }
        ]
    },
    {
        "id": "68fc5e3698a544d1bdf5847b88ad77d4_a4d36c546d914866ad63abe3c4cbb865_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985866862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985866854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985866870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985866887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985866897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985866877893.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": "68fc5e3698a544d1bdf5847b88ad77d4_a4d36c546d914866ad63abe3c4cbb865_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985866862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985866854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985866870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985866887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985866897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985866877893.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": "1be49200788d4e38ae4496b27b233ccb_0757a34dd49644e7a24c18902a455e1e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800829412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800829404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800829420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800829437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800829447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800829427893.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 sedan to the back right of the ego vehicle, a pedestrian wearing a black top and gray shorts to the back right of the ego vehicle, and a white van to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,778.3,648.3>, <c2,CAM_BACK_RIGHT,1135.8,696.7>, <c3,CAM_BACK_RIGHT,215.0,635.8>, and <c4,CAM_FRONT,895.8,640.0>."
            }
        ]
    },
    {
        "id": "1be49200788d4e38ae4496b27b233ccb_0757a34dd49644e7a24c18902a455e1e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800829412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800829404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800829420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800829437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800829447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800829427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK_RIGHT,1135.8,696.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1be49200788d4e38ae4496b27b233ccb_0757a34dd49644e7a24c18902a455e1e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800829412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800829404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800829420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800829437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800829447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800829427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,778.3,648.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1be49200788d4e38ae4496b27b233ccb_0757a34dd49644e7a24c18902a455e1e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800829412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800829404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800829420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800829437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800829447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800829427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,778.3,648.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary, the reason is to follow the traffic rules, high."
            }
        ]
    },
    {
        "id": "1be49200788d4e38ae4496b27b233ccb_0757a34dd49644e7a24c18902a455e1e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800829412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800829404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800829420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800829437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800829447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800829427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,778.3,648.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "1be49200788d4e38ae4496b27b233ccb_0757a34dd49644e7a24c18902a455e1e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800829412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800829404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800829420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800829437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800829447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800829427893.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 slightly offset to the right."
            }
        ]
    },
    {
        "id": "1be49200788d4e38ae4496b27b233ccb_0757a34dd49644e7a24c18902a455e1e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800829412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800829404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800829420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800829437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800829447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800829427893.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": "97349fd50e694a5f994b0954047b96d0_38f12903413a449cbec7043e1e878977_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385267662406.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385267654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385267670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385267687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385267697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385267678113.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-gray sedan to the back of the ego vehicle, a black SUV to the back left of the ego vehicle, a brown sedan to the back right of the ego vehicle, a traffic cone to the front right of the ego vehicle, and a gray SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1081.7,532.5>, <c2,CAM_BACK_LEFT,1100.8,627.5>, <c3,CAM_BACK_RIGHT,1424.2,662.5>, <c4,CAM_FRONT_RIGHT,397.5,558.3>, and <c5,CAM_BACK,881.6,517.9>."
            }
        ]
    },
    {
        "id": "97349fd50e694a5f994b0954047b96d0_38f12903413a449cbec7043e1e878977_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385267662406.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385267654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385267670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385267687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385267697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385267678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1081.7,532.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "97349fd50e694a5f994b0954047b96d0_38f12903413a449cbec7043e1e878977_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385267662406.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385267654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385267670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385267687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385267697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385267678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1081.7,532.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "97349fd50e694a5f994b0954047b96d0_38f12903413a449cbec7043e1e878977_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385267662406.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385267654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385267670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385267687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385267697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385267678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1081.7,532.5>? 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": "97349fd50e694a5f994b0954047b96d0_38f12903413a449cbec7043e1e878977_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385267662406.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385267654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385267670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385267687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385267697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385267678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1081.7,532.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "97349fd50e694a5f994b0954047b96d0_38f12903413a449cbec7043e1e878977_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385267662406.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385267654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385267670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385267687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385267697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385267678113.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 turn left."
            }
        ]
    },
    {
        "id": "97349fd50e694a5f994b0954047b96d0_38f12903413a449cbec7043e1e878977_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385267662406.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385267654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385267670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385267687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385267697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385267678113.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": "97349fd50e694a5f994b0954047b96d0_c42bcde31f894f28bdaa7994f8a03a34_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.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 black unknown to the front left of the ego vehicle, a gray SUV to the back left of the ego vehicle, and an orange roadblock to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1258.3,518.3>, <c2,CAM_FRONT_LEFT,880.0,475.8>, <c3,CAM_BACK_LEFT,1060.8,636.7>, and <c4,CAM_BACK,355.8,635.0>."
            }
        ]
    },
    {
        "id": "97349fd50e694a5f994b0954047b96d0_c42bcde31f894f28bdaa7994f8a03a34_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1258.3,518.3>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "97349fd50e694a5f994b0954047b96d0_c42bcde31f894f28bdaa7994f8a03a34_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1258.3,518.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "97349fd50e694a5f994b0954047b96d0_c42bcde31f894f28bdaa7994f8a03a34_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1258.3,518.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn left because there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "97349fd50e694a5f994b0954047b96d0_c42bcde31f894f28bdaa7994f8a03a34_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1258.3,518.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "97349fd50e694a5f994b0954047b96d0_c42bcde31f894f28bdaa7994f8a03a34_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "97349fd50e694a5f994b0954047b96d0_c42bcde31f894f28bdaa7994f8a03a34_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.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 with normal speed."
            }
        ]
    },
    {
        "id": "fbf27198b3424e28ab1de2a12eb3dc4a_17be5f3012e741e98740c6520191b076_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153633662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153633654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153633670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153633687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153633697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153633678113.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 white clothes to the front right of the ego vehicle, a pedestrian wearing white clothes to the front of the ego vehicle, a pedestrian wearing pink clothes to the front right of the ego vehicle, and a black sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,249.2,481.7>, <c2,CAM_FRONT,640.8,511.7>, <c3,CAM_FRONT_RIGHT,118.3,481.7>, and <c4,CAM_BACK_RIGHT,622.8,653.3>."
            }
        ]
    },
    {
        "id": "fbf27198b3424e28ab1de2a12eb3dc4a_17be5f3012e741e98740c6520191b076_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153633662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153633654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153633670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153633687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153633697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153633678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,640.8,511.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fbf27198b3424e28ab1de2a12eb3dc4a_17be5f3012e741e98740c6520191b076_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153633662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153633654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153633670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153633687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153633697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153633678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,249.2,481.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fbf27198b3424e28ab1de2a12eb3dc4a_17be5f3012e741e98740c6520191b076_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153633662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153633654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153633670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153633687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153633697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153633678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,249.2,481.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "fbf27198b3424e28ab1de2a12eb3dc4a_17be5f3012e741e98740c6520191b076_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153633662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153633654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153633670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153633687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153633697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153633678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,249.2,481.7>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "fbf27198b3424e28ab1de2a12eb3dc4a_17be5f3012e741e98740c6520191b076_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153633662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153633654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153633670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153633687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153633697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153633678113.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, or turn right."
            }
        ]
    },
    {
        "id": "fbf27198b3424e28ab1de2a12eb3dc4a_17be5f3012e741e98740c6520191b076_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153633662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153633654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153633670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153633687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153633697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153633678113.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": "fbf27198b3424e28ab1de2a12eb3dc4a_a943ce88b1eb48e08770699332f89b18_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153644412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153644404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153644420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153644437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153644447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153644428113.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 T-shirt pedestrian to the front right of the ego vehicle, a white sedan to the front of the ego vehicle, a red T-shirt pedestrian to the front of the ego vehicle, and a black car to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,113.3,490.0>, <c2,CAM_FRONT,891.7,541.7>, <c3,CAM_FRONT,1443.3,492.5>, and <c4,CAM_BACK_RIGHT,925.8,620.0>."
            }
        ]
    },
    {
        "id": "fbf27198b3424e28ab1de2a12eb3dc4a_a943ce88b1eb48e08770699332f89b18_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153644412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153644404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153644420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153644437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153644447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153644428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,113.3,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fbf27198b3424e28ab1de2a12eb3dc4a_a943ce88b1eb48e08770699332f89b18_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153644412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153644404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153644420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153644437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153644447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153644428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,113.3,490.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fbf27198b3424e28ab1de2a12eb3dc4a_a943ce88b1eb48e08770699332f89b18_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153644412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153644404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153644420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153644437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153644447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153644428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,113.3,490.0>? 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": "fbf27198b3424e28ab1de2a12eb3dc4a_a943ce88b1eb48e08770699332f89b18_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153644412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153644404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153644420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153644437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153644447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153644428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,113.3,490.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "fbf27198b3424e28ab1de2a12eb3dc4a_a943ce88b1eb48e08770699332f89b18_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153644412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153644404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153644420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153644437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153644447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153644428113.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, turn right, and turn left."
            }
        ]
    },
    {
        "id": "fbf27198b3424e28ab1de2a12eb3dc4a_a943ce88b1eb48e08770699332f89b18_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153644412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153644404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153644420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153644437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153644447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153644428113.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": "860ef56791a947baadb27dd00bd5d4b3_9de7da7b88c94c98ba80bed0ad7ef3d8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153564762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153564754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153564770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153564787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153564797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153564778113.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 sitting on the stairs to the front right of the ego vehicle, a black car to the front of the ego vehicle, and a yellow construction vehicle to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,296.7,634.2>, <c2,CAM_FRONT,1065.0,562.5>, and <c3,CAM_BACK_RIGHT,589.4,478.4>."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_9de7da7b88c94c98ba80bed0ad7ef3d8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153564762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153564754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153564770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153564787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153564797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153564778113.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 <c2,CAM_FRONT,1065.0,562.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_RIGHT,296.7,634.2>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK_RIGHT,589.4,478.4>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_9de7da7b88c94c98ba80bed0ad7ef3d8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153564762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153564754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153564770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153564787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153564797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153564778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,296.7,634.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_9de7da7b88c94c98ba80bed0ad7ef3d8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153564762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153564754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153564770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153564787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153564797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153564778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,296.7,634.2>? 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": "860ef56791a947baadb27dd00bd5d4b3_9de7da7b88c94c98ba80bed0ad7ef3d8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153564762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153564754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153564770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153564787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153564797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153564778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,296.7,634.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_9de7da7b88c94c98ba80bed0ad7ef3d8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153564762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153564754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153564770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153564787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153564797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153564778113.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": "860ef56791a947baadb27dd00bd5d4b3_9de7da7b88c94c98ba80bed0ad7ef3d8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153564762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153564754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153564770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153564787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153564797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153564778113.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 with normal speed."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_5e2be0b7e8c740f88bb7feac868b07e5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153557862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153557854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153557870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153557887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153557897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153557878113.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 right of the ego vehicle, a black car to the front of the ego vehicle, and a yellow construction vehicle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1145.7,391.1>, <c2,CAM_FRONT,219.2,507.5>, and <c3,CAM_FRONT,973.3,465.8>."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_5e2be0b7e8c740f88bb7feac868b07e5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153557862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153557854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153557870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153557887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153557897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153557878113.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 <c3,CAM_FRONT,973.3,465.8>. It is stationary, so the ego vehicle should continue at the same speed. Secondly, notice <c2,CAM_FRONT,219.2,507.5>. It is stationary, so the ego vehicle should slow down and proceed. Thirdly, notice <c1,CAM_FRONT_RIGHT,1145.7,391.1>. It is stationary, so the ego vehicle should continue at the same speed."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_5e2be0b7e8c740f88bb7feac868b07e5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153557862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153557854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153557870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153557887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153557897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153557878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1145.7,391.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_5e2be0b7e8c740f88bb7feac868b07e5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153557862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153557854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153557870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153557887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153557897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153557878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1145.7,391.1>? 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": "860ef56791a947baadb27dd00bd5d4b3_5e2be0b7e8c740f88bb7feac868b07e5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153557862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153557854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153557870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153557887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153557897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153557878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1145.7,391.1>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_5e2be0b7e8c740f88bb7feac868b07e5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153557862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153557854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153557870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153557887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153557897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153557878113.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 turn left."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_5e2be0b7e8c740f88bb7feac868b07e5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153557862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153557854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153557870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153557887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153557897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153557878113.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": "860ef56791a947baadb27dd00bd5d4b3_f90f165889ba405ca8eb2482263383e7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153548912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153548904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153548920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153548937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153548947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153548928113.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 truck container to the front right of the ego vehicle, a white truck to the front of the ego vehicle, and a white truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,734.2,372.5>, <c2,CAM_FRONT,835.8,459.2>, and <c3,CAM_FRONT_LEFT,774.2,318.3>."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_f90f165889ba405ca8eb2482263383e7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153548912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153548904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153548920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153548937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153548947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153548928113.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 <c2,CAM_FRONT,835.8,459.2>. It is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice <c3,CAM_FRONT_LEFT,774.2,318.3>. It is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice <c1,CAM_FRONT_RIGHT,734.2,372.5>. It is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_f90f165889ba405ca8eb2482263383e7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153548912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153548904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153548920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153548937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153548947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153548928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,734.2,372.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_f90f165889ba405ca8eb2482263383e7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153548912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153548904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153548920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153548937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153548947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153548928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,734.2,372.5>? 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": "860ef56791a947baadb27dd00bd5d4b3_f90f165889ba405ca8eb2482263383e7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153548912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153548904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153548920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153548937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153548947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153548928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,734.2,372.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_f90f165889ba405ca8eb2482263383e7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153548912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153548904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153548920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153548937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153548947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153548928113.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; back up."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_f90f165889ba405ca8eb2482263383e7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153548912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153548904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153548920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153548937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153548947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153548928113.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": "860ef56791a947baadb27dd00bd5d4b3_1f523efa8bda4156830b8aaa94a23b85_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153560912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153560904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153560920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153560937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153560947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153560928113.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 carrying a black backpack to the front of the ego vehicle, a black SUV to the front left of the ego vehicle, and a yellow construction vehicle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1275.8,553.3>, <c2,CAM_FRONT_LEFT,1389.2,527.5>, and <c3,CAM_FRONT,1096.7,442.5>."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_1f523efa8bda4156830b8aaa94a23b85_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153560912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153560904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153560920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153560937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153560947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153560928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1275.8,553.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_1f523efa8bda4156830b8aaa94a23b85_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153560912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153560904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153560920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153560937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153560947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153560928113.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 <c1,CAM_FRONT,1275.8,553.3>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,1096.7,442.5>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT_LEFT,1389.2,527.5>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_1f523efa8bda4156830b8aaa94a23b85_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153560912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153560904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153560920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153560937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153560947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153560928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1275.8,553.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_1f523efa8bda4156830b8aaa94a23b85_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153560912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153560904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153560920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153560937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153560947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153560928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1275.8,553.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn left. The reason is to avoid a collision, which is high probability."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_1f523efa8bda4156830b8aaa94a23b85_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153560912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153560904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153560920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153560937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153560947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153560928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1275.8,553.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_1f523efa8bda4156830b8aaa94a23b85_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153560912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153560904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153560920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153560937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153560947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153560928113.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 suddenly, turn left, brake gently to a stop, back up, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "860ef56791a947baadb27dd00bd5d4b3_1f523efa8bda4156830b8aaa94a23b85_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153560912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153560904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153560920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153560937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153560947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153560928113.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": "48ff8fee13c344ed843af3eec8f9b94b_845c5702a02b45959b253629fdf4aa2b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985261162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985261154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985261170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985261187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985261197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985261177893.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 sedan to the back of the ego vehicle, and a pedestrian to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,975.6,506.9>, <c2,CAM_BACK,1411.9,612.5>, and <c3,CAM_FRONT,1266.7,492.5>."
            }
        ]
    },
    {
        "id": "48ff8fee13c344ed843af3eec8f9b94b_845c5702a02b45959b253629fdf4aa2b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985261162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985261154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985261170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985261187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985261197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985261177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,975.6,506.9>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "48ff8fee13c344ed843af3eec8f9b94b_845c5702a02b45959b253629fdf4aa2b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985261162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985261154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985261170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985261187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985261197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985261177893.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 <c3,CAM_FRONT,1266.7,492.5>. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice <c2,CAM_BACK,1411.9,612.5>. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice <c1,CAM_BACK,975.6,506.9>. It is turning left, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "48ff8fee13c344ed843af3eec8f9b94b_845c5702a02b45959b253629fdf4aa2b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985261162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985261154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985261170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985261187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985261197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985261177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,975.6,506.9> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "48ff8fee13c344ed843af3eec8f9b94b_845c5702a02b45959b253629fdf4aa2b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985261162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985261154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985261170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985261187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985261197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985261177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,975.6,506.9>? 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": "48ff8fee13c344ed843af3eec8f9b94b_845c5702a02b45959b253629fdf4aa2b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985261162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985261154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985261170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985261187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985261197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985261177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,975.6,506.9>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "48ff8fee13c344ed843af3eec8f9b94b_845c5702a02b45959b253629fdf4aa2b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985261162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985261154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985261170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985261187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985261197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985261177893.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 brake gently to a stop."
            }
        ]
    },
    {
        "id": "48ff8fee13c344ed843af3eec8f9b94b_845c5702a02b45959b253629fdf4aa2b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985261162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985261154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985261170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985261187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985261197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985261177893.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": "57f5503bf63144b8bf450315e860f58e_d276b0a1893d4ee2af846e5e1e893592_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985940662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985940654853.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985940670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985940687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985940697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985940677893.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 white SUV to the front of the ego vehicle, and a yellow sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1389.2,446.7>, <c2,CAM_FRONT,273.3,467.5>, and <c3,CAM_FRONT,150.2,483.3>."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_d276b0a1893d4ee2af846e5e1e893592_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985940662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985940654853.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985940670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985940687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985940697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985940677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,273.3,467.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_d276b0a1893d4ee2af846e5e1e893592_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985940662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985940654853.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985940670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985940687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985940697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985940677893.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 <c3,CAM_FRONT,150.2,483.3>. The object is stationary, so the ego vehicle should turn left. Secondly, notice that <c2,CAM_FRONT,273.3,467.5>. The object is going ahead, so the ego vehicle should turn left. Thirdly, notice that <c1,CAM_FRONT_LEFT,1389.2,446.7>. The object is stationary, so the ego vehicle should turn left."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_d276b0a1893d4ee2af846e5e1e893592_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985940662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985940654853.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985940670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985940687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985940697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985940677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1389.2,446.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_d276b0a1893d4ee2af846e5e1e893592_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985940662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985940654853.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985940670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985940687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985940697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985940677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1389.2,446.7>? 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, and the probability is high."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_d276b0a1893d4ee2af846e5e1e893592_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985940662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985940654853.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985940670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985940687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985940697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985940677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1389.2,446.7>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT_LEFT,1389.2,446.7>."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_d276b0a1893d4ee2af846e5e1e893592_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985940662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985940654853.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985940670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985940687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985940697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985940677893.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, brake gently to a stop, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_d276b0a1893d4ee2af846e5e1e893592_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985940662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985940654853.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985940670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985940687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985940697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985940677893.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": "57f5503bf63144b8bf450315e860f58e_792c4d8df88f4bbbae76bbc2a2ad6d79_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985948612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985948604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985948620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985948637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985948647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985948627893.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 minivan to the front left of the ego vehicle, a white SUV to the front of the ego vehicle, and a yellow and blue small car to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1490.8,560.8>, <c2,CAM_FRONT,539.2,603.3>, and <c3,CAM_FRONT_LEFT,838.6,711.8>."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_792c4d8df88f4bbbae76bbc2a2ad6d79_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985948612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985948604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985948620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985948637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985948647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985948627893.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 <c3,CAM_FRONT_LEFT,838.6,711.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_LEFT,1490.8,560.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT,539.2,603.3>. The object is stationary, so the ego vehicle should decelerate gradually until it comes to a stop."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_792c4d8df88f4bbbae76bbc2a2ad6d79_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985948612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985948604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985948620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985948637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985948647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985948627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1490.8,560.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_792c4d8df88f4bbbae76bbc2a2ad6d79_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985948612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985948604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985948620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985948637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985948647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985948627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1490.8,560.8>? 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": "57f5503bf63144b8bf450315e860f58e_792c4d8df88f4bbbae76bbc2a2ad6d79_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985948612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985948604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985948620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985948637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985948647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985948627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1490.8,560.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_792c4d8df88f4bbbae76bbc2a2ad6d79_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985948612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985948604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985948620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985948637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985948647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985948627893.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, and change to the right lane."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_792c4d8df88f4bbbae76bbc2a2ad6d79_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985948612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985948604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985948620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985948637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985948647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985948627893.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": "57f5503bf63144b8bf450315e860f58e_393c9d5db9b7437998416919f1965088_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985934277893.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 right of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the back of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,528.1,579.7>, <c2,CAM_FRONT,475.0,515.0>, <c3,CAM_BACK,702.5,523.3>, and <c4,CAM_FRONT,218.0,472.5>."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_393c9d5db9b7437998416919f1965088_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985934277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,475.0,515.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_393c9d5db9b7437998416919f1965088_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985934277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,528.1,579.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_393c9d5db9b7437998416919f1965088_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985934277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,528.1,579.7>? 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": "57f5503bf63144b8bf450315e860f58e_393c9d5db9b7437998416919f1965088_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985934277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,528.1,579.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "57f5503bf63144b8bf450315e860f58e_393c9d5db9b7437998416919f1965088_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985934277893.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": "57f5503bf63144b8bf450315e860f58e_393c9d5db9b7437998416919f1965088_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985934277893.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": "62696ecd66a3445da436ce2d87ee3501_599076c9550f483084346be8ee466194_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731275162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731275154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731275170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731275187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731275197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731275178113.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 sedan to the back right of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,629.2,500.0>, <c2,CAM_BACK_RIGHT,639.9,667.5>, and <c3,CAM_FRONT,958.2,495.6>."
            }
        ]
    },
    {
        "id": "62696ecd66a3445da436ce2d87ee3501_599076c9550f483084346be8ee466194_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731275162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731275154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731275170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731275187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731275197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731275178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,629.2,500.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "62696ecd66a3445da436ce2d87ee3501_599076c9550f483084346be8ee466194_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731275162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731275154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731275170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731275187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731275197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731275178113.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 <c1,CAM_FRONT,629.2,500.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,958.2,495.6>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK_RIGHT,639.9,667.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "62696ecd66a3445da436ce2d87ee3501_599076c9550f483084346be8ee466194_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731275162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731275154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731275170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731275187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731275197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731275178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,629.2,500.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "62696ecd66a3445da436ce2d87ee3501_599076c9550f483084346be8ee466194_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731275162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731275154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731275170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731275187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731275197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731275178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,629.2,500.0>? 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": "62696ecd66a3445da436ce2d87ee3501_599076c9550f483084346be8ee466194_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731275162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731275154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731275170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731275187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731275197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731275178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,629.2,500.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "62696ecd66a3445da436ce2d87ee3501_599076c9550f483084346be8ee466194_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731275162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731275154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731275170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731275187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731275197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731275178113.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": "62696ecd66a3445da436ce2d87ee3501_599076c9550f483084346be8ee466194_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731275162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731275154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731275170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731275187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731275197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731275178113.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": "62696ecd66a3445da436ce2d87ee3501_d5af1f4a0bee449fa26c80d6f0672e63_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731273112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731273104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731273120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731273137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731273147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731273128113.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 black SUV to the front of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,786.2,489.6>, <c2,CAM_FRONT,1480.0,562.5>, and <c3,CAM_FRONT,866.3,494.2>."
            }
        ]
    },
    {
        "id": "62696ecd66a3445da436ce2d87ee3501_d5af1f4a0bee449fa26c80d6f0672e63_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731273112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731273104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731273120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731273137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731273147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731273128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,786.2,489.6>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "62696ecd66a3445da436ce2d87ee3501_d5af1f4a0bee449fa26c80d6f0672e63_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731273112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731273104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731273120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731273137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731273147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731273128113.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 <c2,CAM_FRONT,1480.0,562.5>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_FRONT,866.3,494.2>, the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c1,CAM_FRONT,786.2,489.6>, the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "62696ecd66a3445da436ce2d87ee3501_d5af1f4a0bee449fa26c80d6f0672e63_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731273112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731273104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731273120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731273137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731273147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731273128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,786.2,489.6> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "62696ecd66a3445da436ce2d87ee3501_d5af1f4a0bee449fa26c80d6f0672e63_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731273112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731273104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731273120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731273137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731273147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731273128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,786.2,489.6>? 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": "62696ecd66a3445da436ce2d87ee3501_d5af1f4a0bee449fa26c80d6f0672e63_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731273112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731273104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731273120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731273137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731273147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731273128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,786.2,489.6>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "62696ecd66a3445da436ce2d87ee3501_d5af1f4a0bee449fa26c80d6f0672e63_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731273112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731273104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731273120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731273137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731273147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731273128113.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 brake suddenly."
            }
        ]
    },
    {
        "id": "62696ecd66a3445da436ce2d87ee3501_d5af1f4a0bee449fa26c80d6f0672e63_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731273112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731273104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731273120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731273137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731273147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731273128113.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": "862a468e56954dc9a833a9eb3ebd884b_68b2014bfd6f40579014bb018089dcc4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478739612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478739604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478739620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478739637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478739647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478739628113.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 pickup truck to the front left of the ego vehicle, a white sedan to the back of the ego vehicle, a gray stone to the front of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,760.8,550.0>, <c2,CAM_BACK,1071.7,520.0>, <c3,CAM_FRONT,1465.0,750.0>, and <c4,CAM_BACK,833.3,533.3>."
            }
        ]
    },
    {
        "id": "862a468e56954dc9a833a9eb3ebd884b_68b2014bfd6f40579014bb018089dcc4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478739612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478739604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478739620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478739637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478739647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478739628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,1071.7,520.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "862a468e56954dc9a833a9eb3ebd884b_68b2014bfd6f40579014bb018089dcc4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478739612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478739604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478739620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478739637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478739647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478739628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,760.8,550.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "862a468e56954dc9a833a9eb3ebd884b_68b2014bfd6f40579014bb018089dcc4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478739612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478739604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478739620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478739637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478739647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478739628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,760.8,550.0>? 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": "862a468e56954dc9a833a9eb3ebd884b_68b2014bfd6f40579014bb018089dcc4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478739612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478739604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478739620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478739637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478739647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478739628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,760.8,550.0>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "862a468e56954dc9a833a9eb3ebd884b_68b2014bfd6f40579014bb018089dcc4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478739612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478739604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478739620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478739637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478739647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478739628113.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": "862a468e56954dc9a833a9eb3ebd884b_68b2014bfd6f40579014bb018089dcc4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478739612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478739604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478739620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478739637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478739647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478739628113.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": "862a468e56954dc9a833a9eb3ebd884b_b844cf6ef01c48e08545646f0f39438c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478742012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478742004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478742020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478742037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478742047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478742028113.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 left of the ego vehicle, a red pickup truck to the front right of the ego vehicle, a cone-shaped roadblock to the front of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,826.7,517.5>, <c2,CAM_FRONT_RIGHT,314.4,508.4>, <c3,CAM_FRONT,1344.2,539.2>, and <c4,CAM_BACK,825.0,520.8>."
            }
        ]
    },
    {
        "id": "862a468e56954dc9a833a9eb3ebd884b_b844cf6ef01c48e08545646f0f39438c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478742012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478742004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478742020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478742037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478742047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478742028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,825.0,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "862a468e56954dc9a833a9eb3ebd884b_b844cf6ef01c48e08545646f0f39438c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478742012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478742004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478742020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478742037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478742047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478742028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,826.7,517.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "862a468e56954dc9a833a9eb3ebd884b_b844cf6ef01c48e08545646f0f39438c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478742012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478742004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478742020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478742037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478742047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478742028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,826.7,517.5>? 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": "862a468e56954dc9a833a9eb3ebd884b_b844cf6ef01c48e08545646f0f39438c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478742012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478742004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478742020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478742037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478742047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478742028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,826.7,517.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "862a468e56954dc9a833a9eb3ebd884b_b844cf6ef01c48e08545646f0f39438c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478742012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478742004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478742020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478742037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478742047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478742028113.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 continue ahead."
            }
        ]
    },
    {
        "id": "862a468e56954dc9a833a9eb3ebd884b_b844cf6ef01c48e08545646f0f39438c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478742012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478742004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478742020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478742037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478742047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478742028113.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": "df0c3cb16cde410eba8eea191765515c_7e583381bb2c4f5a855f1c4c48993b4d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287343862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287343854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287343870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287343887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287343897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287343878113.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 back of the ego vehicle, a white truck to the front right of the ego vehicle, and a black SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,884.2,489.2>, <c2,CAM_FRONT_RIGHT,1016.7,494.2>, and <c3,CAM_FRONT_LEFT,624.2,503.3>."
            }
        ]
    },
    {
        "id": "df0c3cb16cde410eba8eea191765515c_7e583381bb2c4f5a855f1c4c48993b4d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287343862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287343854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287343870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287343887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287343897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287343878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,884.2,489.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "df0c3cb16cde410eba8eea191765515c_7e583381bb2c4f5a855f1c4c48993b4d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287343862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287343854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287343870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287343887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287343897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287343878113.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 <c2,CAM_FRONT_RIGHT,1016.7,494.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_LEFT,624.2,503.3>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,884.2,489.2>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "df0c3cb16cde410eba8eea191765515c_7e583381bb2c4f5a855f1c4c48993b4d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287343862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287343854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287343870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287343887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287343897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287343878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,884.2,489.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "df0c3cb16cde410eba8eea191765515c_7e583381bb2c4f5a855f1c4c48993b4d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287343862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287343854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287343870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287343887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287343897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287343878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,884.2,489.2>? 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": "df0c3cb16cde410eba8eea191765515c_7e583381bb2c4f5a855f1c4c48993b4d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287343862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287343854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287343870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287343887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287343897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287343878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,884.2,489.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "df0c3cb16cde410eba8eea191765515c_7e583381bb2c4f5a855f1c4c48993b4d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287343862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287343854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287343870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287343887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287343897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287343878113.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": "df0c3cb16cde410eba8eea191765515c_7e583381bb2c4f5a855f1c4c48993b4d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287343862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287343854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287343870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287343887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287343897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287343878113.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": "df0c3cb16cde410eba8eea191765515c_46436a8c8f044b4d9a1cadb0e206fa19_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287335512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287335504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287335520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287335537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287335547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287335528113.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 back of the ego vehicle, a white commercial vehicle to the front left of the ego vehicle, and a black sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,869.2,486.7>, <c2,CAM_FRONT_LEFT,751.7,490.0>, and <c3,CAM_FRONT_RIGHT,912.5,607.5>."
            }
        ]
    },
    {
        "id": "df0c3cb16cde410eba8eea191765515c_46436a8c8f044b4d9a1cadb0e206fa19_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287335512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287335504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287335520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287335537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287335547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287335528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,869.2,486.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "df0c3cb16cde410eba8eea191765515c_46436a8c8f044b4d9a1cadb0e206fa19_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287335512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287335504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287335520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287335537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287335547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287335528113.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 <c2,CAM_FRONT_LEFT,751.7,490.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_RIGHT,912.5,607.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,869.2,486.7>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "df0c3cb16cde410eba8eea191765515c_46436a8c8f044b4d9a1cadb0e206fa19_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287335512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287335504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287335520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287335537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287335547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287335528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,869.2,486.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "df0c3cb16cde410eba8eea191765515c_46436a8c8f044b4d9a1cadb0e206fa19_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287335512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287335504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287335520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287335537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287335547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287335528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,869.2,486.7>? 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": "df0c3cb16cde410eba8eea191765515c_46436a8c8f044b4d9a1cadb0e206fa19_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287335512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287335504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287335520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287335537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287335547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287335528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,869.2,486.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "df0c3cb16cde410eba8eea191765515c_46436a8c8f044b4d9a1cadb0e206fa19_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287335512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287335504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287335520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287335537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287335547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287335528113.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": "df0c3cb16cde410eba8eea191765515c_46436a8c8f044b4d9a1cadb0e206fa19_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287335512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287335504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287335520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287335537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287335547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287335528113.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": "5d5506d750cc41d8bd33840d5350d7ad_5fe38ab9fac94a43b6c7d385ef510ae6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986255262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986255254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986255270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986255287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986255297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986255277893.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 sedan to the back of the ego vehicle, a yellow and black taxi to the front of the ego vehicle, a pedestrian wearing blue clothes to the front of the ego vehicle, a pedestrian wearing black clothes to the front of the ego vehicle, a blue truck to the back right of the ego vehicle, and a pedestrian wearing white clothes to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,936.7,514.2>, <c2,CAM_FRONT,740.8,507.5>, <c3,CAM_FRONT,275.8,531.7>, <c4,CAM_FRONT,617.5,514.2>, <c5,CAM_BACK_RIGHT,440.0,569.2>, and <c6,CAM_FRONT_LEFT,1594.2,628.3>."
            }
        ]
    },
    {
        "id": "5d5506d750cc41d8bd33840d5350d7ad_5fe38ab9fac94a43b6c7d385ef510ae6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986255262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986255254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986255270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986255287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986255297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986255277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,936.7,514.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5d5506d750cc41d8bd33840d5350d7ad_5fe38ab9fac94a43b6c7d385ef510ae6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986255262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986255254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986255270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986255287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986255297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986255277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,936.7,514.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5d5506d750cc41d8bd33840d5350d7ad_5fe38ab9fac94a43b6c7d385ef510ae6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986255262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986255254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986255270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986255287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986255297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986255277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,936.7,514.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to accelerate and go ahead. The reason is that there is no safety issue. The probability is high."
            }
        ]
    },
    {
        "id": "5d5506d750cc41d8bd33840d5350d7ad_5fe38ab9fac94a43b6c7d385ef510ae6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986255262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986255254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986255270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986255287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986255297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986255277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,936.7,514.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "5d5506d750cc41d8bd33840d5350d7ad_5fe38ab9fac94a43b6c7d385ef510ae6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986255262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986255254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986255270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986255287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986255297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986255277893.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": "5d5506d750cc41d8bd33840d5350d7ad_5fe38ab9fac94a43b6c7d385ef510ae6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986255262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986255254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986255270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986255287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986255297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986255277893.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": "5d5506d750cc41d8bd33840d5350d7ad_aa48c69c7fe4468da9a8da25e21aa88f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986256162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986256154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986256170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986256187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986256197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986256177893.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 bus to the front of the ego vehicle, a person wearing a blue shirt to the front left of the ego vehicle, a person wearing a black shirt to the front of the ego vehicle, a blue truck to the back right of the ego vehicle, and a person wearing a white shirt to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,765.0,503.3>, <c2,CAM_FRONT_LEFT,970.8,590.8>, <c3,CAM_FRONT,534.2,525.0>, <c4,CAM_BACK_RIGHT,1025.8,538.3>, and <c5,CAM_BACK_LEFT,1088.3,596.7>."
            }
        ]
    },
    {
        "id": "5d5506d750cc41d8bd33840d5350d7ad_aa48c69c7fe4468da9a8da25e21aa88f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986256162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986256154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986256170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986256187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986256197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986256177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,765.0,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5d5506d750cc41d8bd33840d5350d7ad_aa48c69c7fe4468da9a8da25e21aa88f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986256162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986256154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986256170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986256187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986256197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986256177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,765.0,503.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5d5506d750cc41d8bd33840d5350d7ad_aa48c69c7fe4468da9a8da25e21aa88f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986256162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986256154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986256170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986256187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986256197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986256177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,765.0,503.3>? 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": "5d5506d750cc41d8bd33840d5350d7ad_aa48c69c7fe4468da9a8da25e21aa88f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986256162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986256154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986256170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986256187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986256197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986256177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,765.0,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight can lead to a collision with <c1,CAM_FRONT,765.0,503.3>."
            }
        ]
    },
    {
        "id": "5d5506d750cc41d8bd33840d5350d7ad_aa48c69c7fe4468da9a8da25e21aa88f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986256162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986256154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986256170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986256187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986256197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986256177893.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, slightly offset to the right."
            }
        ]
    },
    {
        "id": "5d5506d750cc41d8bd33840d5350d7ad_aa48c69c7fe4468da9a8da25e21aa88f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986256162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986256154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986256170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986256187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986256197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986256177893.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": "f55c8c62235146d895f611176fd0a5dc_0898cbdef4e643afa16af8fe3db42f07_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297007262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297007254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297007270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297007287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297007297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297007278113.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 left of the ego vehicle, a silver gray sedan to the back of the ego vehicle, a white truck to the back of the ego vehicle, a black SUV 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 <c1,CAM_FRONT_LEFT,303.3,689.2>, <c2,CAM_BACK,213.1,659.2>, <c3,CAM_BACK,1371.7,517.5>, <c4,CAM_FRONT_RIGHT,941.5,473.5>, and <c5,CAM_FRONT,949.4,256.9>."
            }
        ]
    },
    {
        "id": "f55c8c62235146d895f611176fd0a5dc_0898cbdef4e643afa16af8fe3db42f07_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297007262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297007254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297007270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297007287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297007297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297007278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,1371.7,517.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f55c8c62235146d895f611176fd0a5dc_0898cbdef4e643afa16af8fe3db42f07_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297007262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297007254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297007270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297007287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297007297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297007278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,303.3,689.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f55c8c62235146d895f611176fd0a5dc_0898cbdef4e643afa16af8fe3db42f07_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297007262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297007254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297007270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297007287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297007297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297007278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,303.3,689.2>? 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": "f55c8c62235146d895f611176fd0a5dc_0898cbdef4e643afa16af8fe3db42f07_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297007262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297007254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297007270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297007287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297007297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297007278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,303.3,689.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "f55c8c62235146d895f611176fd0a5dc_0898cbdef4e643afa16af8fe3db42f07_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297007262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297007254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297007270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297007287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297007297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297007278113.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": "f55c8c62235146d895f611176fd0a5dc_0898cbdef4e643afa16af8fe3db42f07_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297007262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297007254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297007270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297007287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297007297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297007278113.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": "f55c8c62235146d895f611176fd0a5dc_1cffb2ff65ac4ee7acdc4c23bcf9baf8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297019012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297019004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297019020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297019037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297019047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297019028113.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 brown SUV to the front of the ego vehicle, a black SUV to the front left of the ego vehicle, a black SUV 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 <c1,CAM_FRONT,477.5,532.5>, <c2,CAM_FRONT_LEFT,449.8,681.5>, <c3,CAM_FRONT_RIGHT,825.0,612.6>, and <c4,CAM_FRONT,959.4,253.6>."
            }
        ]
    },
    {
        "id": "f55c8c62235146d895f611176fd0a5dc_1cffb2ff65ac4ee7acdc4c23bcf9baf8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297019012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297019004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297019020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297019037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297019047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297019028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,477.5,532.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f55c8c62235146d895f611176fd0a5dc_1cffb2ff65ac4ee7acdc4c23bcf9baf8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297019012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297019004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297019020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297019037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297019047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297019028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,477.5,532.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f55c8c62235146d895f611176fd0a5dc_1cffb2ff65ac4ee7acdc4c23bcf9baf8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297019012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297019004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297019020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297019037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297019047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297019028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,477.5,532.5>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "f55c8c62235146d895f611176fd0a5dc_1cffb2ff65ac4ee7acdc4c23bcf9baf8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297019012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297019004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297019020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297019037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297019047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297019028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,477.5,532.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "f55c8c62235146d895f611176fd0a5dc_1cffb2ff65ac4ee7acdc4c23bcf9baf8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297019012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297019004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297019020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297019037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297019047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297019028113.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": "f55c8c62235146d895f611176fd0a5dc_1cffb2ff65ac4ee7acdc4c23bcf9baf8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297019012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297019004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297019020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297019037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297019047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297019028113.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": "25f40f7316954a3e978e24d691e1a117_088cc38651ed407f936959f5ccd99287_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281616162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281616154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281616170364.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281616187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281616197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281616177893.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 truck to the back right of the ego vehicle, a pedestrian wearing black pants to the front of the ego vehicle, and a white truck to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1062.5,462.5>, <c2,CAM_FRONT,834.2,462.5>, and <c3,CAM_BACK_RIGHT,800.8,481.7>."
            }
        ]
    },
    {
        "id": "25f40f7316954a3e978e24d691e1a117_088cc38651ed407f936959f5ccd99287_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281616162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281616154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281616170364.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281616187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281616197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281616177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,834.2,462.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "25f40f7316954a3e978e24d691e1a117_088cc38651ed407f936959f5ccd99287_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281616162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281616154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281616170364.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281616187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281616197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281616177893.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 <c2,CAM_FRONT,834.2,462.5>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c1,CAM_BACK_RIGHT,1062.5,462.5>. The object is stationary, so the ego vehicle should turn right. Thirdly, notice that <c3,CAM_BACK_RIGHT,800.8,481.7>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "25f40f7316954a3e978e24d691e1a117_088cc38651ed407f936959f5ccd99287_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281616162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281616154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281616170364.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281616187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281616197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281616177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1062.5,462.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "25f40f7316954a3e978e24d691e1a117_088cc38651ed407f936959f5ccd99287_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281616162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281616154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281616170364.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281616187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281616197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281616177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1062.5,462.5>? 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": "25f40f7316954a3e978e24d691e1a117_088cc38651ed407f936959f5ccd99287_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281616162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281616154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281616170364.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281616187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281616197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281616177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,1062.5,462.5>?"
            },
            {
                "from": "gpt",
                "value": "No actions taken by the ego vehicle will lead to a collision with <c1,CAM_BACK_RIGHT,1062.5,462.5>."
            }
        ]
    },
    {
        "id": "25f40f7316954a3e978e24d691e1a117_088cc38651ed407f936959f5ccd99287_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281616162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281616154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281616170364.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281616187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281616197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281616177893.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": "Turning right, slightly offsetting to the right, and slightly offsetting to the left are safe actions for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "25f40f7316954a3e978e24d691e1a117_088cc38651ed407f936959f5ccd99287_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281616162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281616154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281616170364.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281616187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281616197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281616177893.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": "25f40f7316954a3e978e24d691e1a117_2c76aa464992418f80380f4e25ad97f6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281607112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281607104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281607120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281607137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281607147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281607127893.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 truck to the back of the ego vehicle, a motorcycle to the back of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,597.5,514.2>, <c2,CAM_BACK,341.7,630.8>, and <c3,CAM_BACK,701.7,507.5>."
            }
        ]
    },
    {
        "id": "25f40f7316954a3e978e24d691e1a117_2c76aa464992418f80380f4e25ad97f6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281607112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281607104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281607120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281607137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281607147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281607127893.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 <c2,CAM_BACK,341.7,630.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_BACK,597.5,514.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,701.7,507.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "25f40f7316954a3e978e24d691e1a117_2c76aa464992418f80380f4e25ad97f6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281607112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281607104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281607120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281607137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281607147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281607127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,597.5,514.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "25f40f7316954a3e978e24d691e1a117_2c76aa464992418f80380f4e25ad97f6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281607112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281607104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281607120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281607137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281607147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281607127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,597.5,514.2>? 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 is highly probable."
            }
        ]
    },
    {
        "id": "25f40f7316954a3e978e24d691e1a117_2c76aa464992418f80380f4e25ad97f6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281607112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281607104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281607120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281607137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281607147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281607127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_BACK,701.7,507.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "25f40f7316954a3e978e24d691e1a117_2c76aa464992418f80380f4e25ad97f6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281607112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281607104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281607120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281607137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281607147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281607127893.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": "25f40f7316954a3e978e24d691e1a117_2c76aa464992418f80380f4e25ad97f6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281607112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281607104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281607120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281607137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281607147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281607127893.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": "31cb85777b814e0ab6ae6d146964b6ae_a45bf95e20914aeb9ce7bc7b15aebb76_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932282262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932282254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932282270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932282287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932282297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932282277893.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 of the ego vehicle, a blue van to the front of the ego vehicle, a pedestrian on the roadside to the back of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,797.5,626.7>, <c2,CAM_FRONT,602.5,540.0>, <c3,CAM_BACK,1275.8,518.3>, and <c4,CAM_FRONT,1042.5,520.8>."
            }
        ]
    },
    {
        "id": "31cb85777b814e0ab6ae6d146964b6ae_a45bf95e20914aeb9ce7bc7b15aebb76_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932282262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932282254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932282270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932282287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932282297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932282277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,797.5,626.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "31cb85777b814e0ab6ae6d146964b6ae_a45bf95e20914aeb9ce7bc7b15aebb76_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932282262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932282254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932282270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932282287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932282297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932282277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,797.5,626.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "31cb85777b814e0ab6ae6d146964b6ae_a45bf95e20914aeb9ce7bc7b15aebb76_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932282262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932282254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932282270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932282287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932282297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932282277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,797.5,626.7>? 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": "31cb85777b814e0ab6ae6d146964b6ae_a45bf95e20914aeb9ce7bc7b15aebb76_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932282262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932282254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932282270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932282287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932282297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932282277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,797.5,626.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "31cb85777b814e0ab6ae6d146964b6ae_a45bf95e20914aeb9ce7bc7b15aebb76_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932282262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932282254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932282270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932282287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932282297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932282277893.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, slightly offset to the right, change to the right lane."
            }
        ]
    },
    {
        "id": "31cb85777b814e0ab6ae6d146964b6ae_a45bf95e20914aeb9ce7bc7b15aebb76_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932282262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932282254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932282270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932282287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932282297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932282277893.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": "31cb85777b814e0ab6ae6d146964b6ae_da7136dc9c5e4342ac9d7aa45b4b97f0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932287112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932287104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932287120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932287137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932287147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932287127893.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 gray sedan to the front of the ego vehicle, a blue van to the back left of the ego vehicle, a white van to the front left of the ego vehicle, and a pedestrian carrying objects to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,897.5,551.9>, <c2,CAM_FRONT,1395.0,556.7>, <c3,CAM_BACK_LEFT,693.3,539.2>, <c4,CAM_FRONT_LEFT,1173.7,551.7>, and <c5,CAM_BACK_LEFT,1342.3,586.0>."
            }
        ]
    },
    {
        "id": "31cb85777b814e0ab6ae6d146964b6ae_da7136dc9c5e4342ac9d7aa45b4b97f0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932287112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932287104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932287120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932287137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932287147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932287127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,897.5,551.9>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "31cb85777b814e0ab6ae6d146964b6ae_da7136dc9c5e4342ac9d7aa45b4b97f0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932287112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932287104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932287120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932287137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932287147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932287127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,897.5,551.9> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "31cb85777b814e0ab6ae6d146964b6ae_da7136dc9c5e4342ac9d7aa45b4b97f0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932287112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932287104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932287120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932287137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932287147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932287127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,897.5,551.9>? 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": "31cb85777b814e0ab6ae6d146964b6ae_da7136dc9c5e4342ac9d7aa45b4b97f0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932287112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932287104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932287120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932287137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932287147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932287127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,897.5,551.9>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "31cb85777b814e0ab6ae6d146964b6ae_da7136dc9c5e4342ac9d7aa45b4b97f0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932287112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932287104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932287120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932287137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932287147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932287127893.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 continue ahead."
            }
        ]
    },
    {
        "id": "31cb85777b814e0ab6ae6d146964b6ae_da7136dc9c5e4342ac9d7aa45b4b97f0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932287112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932287104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932287120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932287137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932287147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932287127893.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": "10dfdae842b543938a230f25a1e9f934_2e3ff2906bc94da5943ac308568a88e1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.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 black sedan to the front of the ego vehicle, and a red car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,850.0,511.7>, <c2,CAM_FRONT,841.7,597.5>, and <c3,CAM_FRONT_RIGHT,405.0,710.8>."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_2e3ff2906bc94da5943ac308568a88e1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,841.7,597.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_2e3ff2906bc94da5943ac308568a88e1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.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 <c2,CAM_FRONT,841.7,597.5>. The object is turning right, so the ego vehicle should decelerate gradually until it comes to a stop. Secondly notice that <c3,CAM_FRONT_RIGHT,405.0,710.8>. The object is stationary, so the ego vehicle should decelerate gradually until it comes to a stop. Thirdly notice that <c1,CAM_FRONT_LEFT,850.0,511.7>. The object is stationary, so the ego vehicle should decelerate gradually until it comes to a stop."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_2e3ff2906bc94da5943ac308568a88e1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,850.0,511.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_2e3ff2906bc94da5943ac308568a88e1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,850.0,511.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to brake gently to a stop because there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_2e3ff2906bc94da5943ac308568a88e1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,850.0,511.7>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_2e3ff2906bc94da5943ac308568a88e1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.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 continue at the same speed."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_2e3ff2906bc94da5943ac308568a88e1_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.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": "10dfdae842b543938a230f25a1e9f934_f0a3ebbcee82489ab2da20caa8260faa_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280295362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280295354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280295370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280295387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280295397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280295377893.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 cone bucket to the front left of the ego vehicle, a traffic cone to the front left of the ego vehicle, a black sedan car to the front of the ego vehicle, and a person with pink shirt to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1563.3,657.5>, <c2,CAM_FRONT_LEFT,590.8,802.5>, <c3,CAM_FRONT,764.2,465.8>, and <c4,CAM_BACK_LEFT,826.7,562.5>."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_f0a3ebbcee82489ab2da20caa8260faa_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280295362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280295354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280295370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280295387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280295397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280295377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,764.2,465.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_f0a3ebbcee82489ab2da20caa8260faa_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280295362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280295354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280295370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280295387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280295397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280295377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1563.3,657.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_f0a3ebbcee82489ab2da20caa8260faa_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280295362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280295354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280295370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280295387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280295397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280295377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c3,CAM_FRONT,764.2,465.8>? 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": "10dfdae842b543938a230f25a1e9f934_f0a3ebbcee82489ab2da20caa8260faa_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280295362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280295354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280295370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280295387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280295397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280295377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT,764.2,465.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_f0a3ebbcee82489ab2da20caa8260faa_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280295362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280295354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280295370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280295387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280295397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280295377893.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": "10dfdae842b543938a230f25a1e9f934_f0a3ebbcee82489ab2da20caa8260faa_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280295362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280295354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280295370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280295387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280295397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280295377893.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": "10dfdae842b543938a230f25a1e9f934_45192a1a68a945889fee4feae3f8d64b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280311912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280311904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280311920343.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280311937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280311947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280311927893.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 left of the ego vehicle, a black SUV to the front of the ego vehicle, and a red car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,815.8,512.5>, <c2,CAM_FRONT,730.8,591.7>, and <c3,CAM_FRONT_RIGHT,471.7,723.3>."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_45192a1a68a945889fee4feae3f8d64b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280311912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280311904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280311920343.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280311937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280311947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280311927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,730.8,591.7>?"
            },
            {
                "from": "gpt",
                "value": "Reverse parking."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_45192a1a68a945889fee4feae3f8d64b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280311912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280311904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280311920343.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280311937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280311947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280311927893.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 <c2,CAM_FRONT,730.8,591.7>. The object is back up, so the ego vehicle should decelerate gradually until it comes to a stop. Secondly, notice <c3,CAM_FRONT_RIGHT,471.7,723.3>. It is stationary, so the ego vehicle should decelerate gradually until it comes to a stop. Thirdly, notice <c1,CAM_FRONT_LEFT,815.8,512.5>. It is stationary, so the ego vehicle should decelerate gradually until it comes to a stop."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_45192a1a68a945889fee4feae3f8d64b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280311912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280311904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280311920343.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280311937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280311947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280311927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,815.8,512.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_45192a1a68a945889fee4feae3f8d64b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280311912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280311904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280311920343.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280311937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280311947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280311927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,815.8,512.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that the object has little reference value for the ego vehicle, and the probability of this action is high."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_45192a1a68a945889fee4feae3f8d64b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280311912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280311904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280311920343.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280311937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280311947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280311927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,815.8,512.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "10dfdae842b543938a230f25a1e9f934_45192a1a68a945889fee4feae3f8d64b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280311912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280311904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280311920343.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280311937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280311947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280311927893.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": "10dfdae842b543938a230f25a1e9f934_45192a1a68a945889fee4feae3f8d64b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280311912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280311904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280311920343.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280311937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280311947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280311927893.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": "f0f120e4d4b0441da90ec53b16ee169d_dfb8d8959b9944d69dcec6d05e419f04_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291013612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291013604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291013620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291013637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291013647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291013628113.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 golden sedan to the back of the ego vehicle, a black sedan car to the back of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1568.3,505.0>, <c2,CAM_BACK,981.8,499.1>, and <c3,CAM_BACK,1290.0,472.5>."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_dfb8d8959b9944d69dcec6d05e419f04_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291013612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291013604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291013620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291013637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291013647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291013628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1568.3,505.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_dfb8d8959b9944d69dcec6d05e419f04_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291013612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291013604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291013620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291013637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291013647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291013628113.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 <c2,CAM_BACK,981.8,499.1>, the object is turning left, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c1,CAM_BACK,1568.3,505.0>, the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c3,CAM_BACK,1290.0,472.5>, it is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_dfb8d8959b9944d69dcec6d05e419f04_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291013612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291013604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291013620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291013637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291013647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291013628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1568.3,505.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_dfb8d8959b9944d69dcec6d05e419f04_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291013612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291013604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291013620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291013637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291013647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291013628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1568.3,505.0>? 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": "f0f120e4d4b0441da90ec53b16ee169d_dfb8d8959b9944d69dcec6d05e419f04_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291013612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291013604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291013620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291013637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291013647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291013628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1568.3,505.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_dfb8d8959b9944d69dcec6d05e419f04_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291013612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291013604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291013620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291013637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291013647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291013628113.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 ahead."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_dfb8d8959b9944d69dcec6d05e419f04_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291013612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291013604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291013620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291013637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291013647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291013628113.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": "f0f120e4d4b0441da90ec53b16ee169d_ffd1bdf020d145759224c629b501d2b2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291002262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291002254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291002270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291002287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291002297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291002278113.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 champagne-colored sedan to the back of the ego vehicle, a green light to the front of the ego vehicle, and a red light to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,991.7,603.0>, <c2,CAM_FRONT,836.3,398.3>, and <c3,CAM_FRONT_LEFT,1075.5,382.8>."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_ffd1bdf020d145759224c629b501d2b2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291002262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291002254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291002270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291002287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291002297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291002278113.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 <c3,CAM_FRONT_LEFT,1075.5,382.8>. The object is a traffic sign, so the ego vehicle should continue at the same speed. Secondly, notice <c2,CAM_FRONT,836.3,398.3>. The object is a traffic sign, so the ego vehicle should accelerate and continue ahead. Thirdly, notice <c1,CAM_BACK,991.7,603.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_ffd1bdf020d145759224c629b501d2b2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291002262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291002254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291002270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291002287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291002297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291002278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,991.7,603.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_ffd1bdf020d145759224c629b501d2b2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291002262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291002254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291002270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291002287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291002297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291002278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,991.7,603.0>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary, the reason is to follow the traffic rules, high."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_ffd1bdf020d145759224c629b501d2b2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291002262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291002254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291002270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291002287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291002297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291002278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,991.7,603.0>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_ffd1bdf020d145759224c629b501d2b2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291002262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291002254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291002270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291002287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291002297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291002278113.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": "f0f120e4d4b0441da90ec53b16ee169d_ffd1bdf020d145759224c629b501d2b2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291002262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291002254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291002270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291002287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291002297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291002278113.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": "f0f120e4d4b0441da90ec53b16ee169d_d9075c2a5f864a2b8abf41e703f4cf1c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291005162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291005154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291005170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291005187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291005197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291005178113.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 left of the ego vehicle, a gray sedan to the back of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,231.5,472.1>, <c2,CAM_BACK,966.7,580.0>, and <c3,CAM_FRONT,864.5,293.6>."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_d9075c2a5f864a2b8abf41e703f4cf1c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291005162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291005154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291005170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291005187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291005197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291005178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,231.5,472.1>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_d9075c2a5f864a2b8abf41e703f4cf1c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291005162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291005154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291005170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291005187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291005197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291005178113.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 <c3,CAM_FRONT,864.5,293.6>; the object is a traffic sign, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_LEFT,231.5,472.1>; the object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,966.7,580.0>; the object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_d9075c2a5f864a2b8abf41e703f4cf1c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291005162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291005154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291005170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291005187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291005197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291005178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,231.5,472.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_d9075c2a5f864a2b8abf41e703f4cf1c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291005162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291005154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291005170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291005187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291005197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291005178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,231.5,472.1>? 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": "f0f120e4d4b0441da90ec53b16ee169d_d9075c2a5f864a2b8abf41e703f4cf1c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291005162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291005154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291005170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291005187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291005197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291005178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,231.5,472.1>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_d9075c2a5f864a2b8abf41e703f4cf1c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291005162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291005154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291005170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291005187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291005197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291005178113.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 brake suddenly."
            }
        ]
    },
    {
        "id": "f0f120e4d4b0441da90ec53b16ee169d_d9075c2a5f864a2b8abf41e703f4cf1c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291005162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291005154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291005170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291005187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291005197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291005178113.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": "64ca274b5f69458bb5d21e0e2e071902_2dda4e030eb5403c89ed35d4c529bdd8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299518412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299518404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299518420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299518437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299518447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299518428113.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 SUV to the front of the ego vehicle, and a black business to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,952.5,522.5>, <c2,CAM_FRONT,976.7,495.0>, and <c3,CAM_FRONT_RIGHT,1183.3,682.5>."
            }
        ]
    },
    {
        "id": "64ca274b5f69458bb5d21e0e2e071902_2dda4e030eb5403c89ed35d4c529bdd8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299518412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299518404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299518420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299518437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299518447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299518428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,952.5,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "64ca274b5f69458bb5d21e0e2e071902_2dda4e030eb5403c89ed35d4c529bdd8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299518412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299518404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299518420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299518437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299518447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299518428113.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 <c3,CAM_FRONT_RIGHT,1183.3,682.5>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_BACK,952.5,522.5>. It is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_FRONT,976.7,495.0>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "64ca274b5f69458bb5d21e0e2e071902_2dda4e030eb5403c89ed35d4c529bdd8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299518412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299518404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299518420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299518437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299518447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299518428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,952.5,522.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "64ca274b5f69458bb5d21e0e2e071902_2dda4e030eb5403c89ed35d4c529bdd8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299518412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299518404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299518420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299518437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299518447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299518428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,952.5,522.5>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "64ca274b5f69458bb5d21e0e2e071902_2dda4e030eb5403c89ed35d4c529bdd8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299518412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299518404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299518420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299518437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299518447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299518428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,952.5,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "64ca274b5f69458bb5d21e0e2e071902_2dda4e030eb5403c89ed35d4c529bdd8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299518412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299518404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299518420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299518437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299518447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299518428113.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."
            }
        ]
    },
    {
        "id": "64ca274b5f69458bb5d21e0e2e071902_2dda4e030eb5403c89ed35d4c529bdd8_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299518412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299518404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299518420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299518437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299518447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299518428113.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": "64ca274b5f69458bb5d21e0e2e071902_e56e169f25274dc1bf12c25363ef6ddc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.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 black sedan to the back of the ego vehicle, a black sedan to the front right of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,366.7,331.7>, <c2,CAM_BACK,983.3,577.5>, <c3,CAM_FRONT_RIGHT,896.7,479.2>, and <c4,CAM_FRONT,903.3,497.5>."
            }
        ]
    },
    {
        "id": "64ca274b5f69458bb5d21e0e2e071902_e56e169f25274dc1bf12c25363ef6ddc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,366.7,331.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "64ca274b5f69458bb5d21e0e2e071902_e56e169f25274dc1bf12c25363ef6ddc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,366.7,331.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "64ca274b5f69458bb5d21e0e2e071902_e56e169f25274dc1bf12c25363ef6ddc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,366.7,331.7>? 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": "64ca274b5f69458bb5d21e0e2e071902_e56e169f25274dc1bf12c25363ef6ddc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,366.7,331.7>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "64ca274b5f69458bb5d21e0e2e071902_e56e169f25274dc1bf12c25363ef6ddc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.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": "64ca274b5f69458bb5d21e0e2e071902_e56e169f25274dc1bf12c25363ef6ddc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.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": "0d2cc345342a460e94ff54748338ac22_b37cc7e34e5345f9b21ac9e9807909e1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915261412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915261404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915261419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915261437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915261447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915261427813.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 left of the ego vehicle, pedestrians on the roadside to the back right of the ego vehicle, a silver sedan 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 <c1,CAM_FRONT_LEFT,960.8,542.5>, <c2,CAM_BACK_RIGHT,815.8,579.2>, <c3,CAM_FRONT,204.2,477.5>, and <c4,CAM_FRONT_RIGHT,734.2,541.6>."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_b37cc7e34e5345f9b21ac9e9807909e1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915261412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915261404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915261419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915261437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915261447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915261427813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,204.2,477.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_b37cc7e34e5345f9b21ac9e9807909e1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915261412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915261404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915261419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915261437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915261447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915261427813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,960.8,542.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_b37cc7e34e5345f9b21ac9e9807909e1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915261412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915261404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915261419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915261437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915261447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915261427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,960.8,542.5>? 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": "0d2cc345342a460e94ff54748338ac22_b37cc7e34e5345f9b21ac9e9807909e1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915261412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915261404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915261419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915261437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915261447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915261427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,960.8,542.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_b37cc7e34e5345f9b21ac9e9807909e1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915261412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915261404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915261419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915261437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915261447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915261427813.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": "0d2cc345342a460e94ff54748338ac22_b37cc7e34e5345f9b21ac9e9807909e1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915261412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915261404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915261419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915261437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915261447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915261427813.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": "0d2cc345342a460e94ff54748338ac22_d160ad4e8a744b158e3b9d9eab691f2f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915249362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915249354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915249369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915249387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915249397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915249377813.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 front right of the ego vehicle, a black sedan car 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 <c1,CAM_FRONT_RIGHT,385.3,621.5>, <c2,CAM_FRONT,681.2,492.5>, and <c3,CAM_FRONT_RIGHT,1072.8,629.5>."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_d160ad4e8a744b158e3b9d9eab691f2f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915249362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915249354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915249369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915249387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915249397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915249377813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,681.2,492.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_d160ad4e8a744b158e3b9d9eab691f2f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915249362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915249354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915249369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915249387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915249397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915249377813.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 <c1,CAM_FRONT_RIGHT,385.3,621.5>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_FRONT_RIGHT,1072.8,629.5>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_FRONT,681.2,492.5>, the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_d160ad4e8a744b158e3b9d9eab691f2f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915249362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915249354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915249369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915249387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915249397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915249377813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,385.3,621.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_d160ad4e8a744b158e3b9d9eab691f2f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915249362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915249354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915249369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915249387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915249397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915249377813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,385.3,621.5>? 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, high."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_d160ad4e8a744b158e3b9d9eab691f2f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915249362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915249354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915249369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915249387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915249397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915249377813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,385.3,621.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_d160ad4e8a744b158e3b9d9eab691f2f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915249362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915249354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915249369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915249387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915249397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915249377813.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": "0d2cc345342a460e94ff54748338ac22_d160ad4e8a744b158e3b9d9eab691f2f_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915249362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915249354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915249369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915249387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915249397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915249377813.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": "0d2cc345342a460e94ff54748338ac22_830ad7e6bb7e4e68b0d73fa82c7c1fe7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915257412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915257404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915257419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915257437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915257447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915257427813.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 jeep to the front of the ego vehicle, a white truck to the front right of the ego vehicle, and a black SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,514.2,475.0>, <c2,CAM_FRONT_RIGHT,1399.3,446.9>, and <c3,CAM_FRONT_RIGHT,510.1,630.4>."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_830ad7e6bb7e4e68b0d73fa82c7c1fe7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915257412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915257404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915257419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915257437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915257447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915257427813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,514.2,475.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_830ad7e6bb7e4e68b0d73fa82c7c1fe7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915257412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915257404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915257419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915257437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915257447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915257427813.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 <c2,CAM_FRONT_RIGHT,1399.3,446.9>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c3,CAM_FRONT_RIGHT,510.1,630.4>. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_FRONT,514.2,475.0>. It is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_830ad7e6bb7e4e68b0d73fa82c7c1fe7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915257412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915257404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915257419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915257437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915257447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915257427813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,514.2,475.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_830ad7e6bb7e4e68b0d73fa82c7c1fe7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915257412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915257404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915257419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915257437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915257447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915257427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,514.2,475.0>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_830ad7e6bb7e4e68b0d73fa82c7c1fe7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915257412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915257404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915257419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915257437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915257447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915257427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,514.2,475.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_830ad7e6bb7e4e68b0d73fa82c7c1fe7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915257412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915257404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915257419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915257437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915257447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915257427813.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": "0d2cc345342a460e94ff54748338ac22_830ad7e6bb7e4e68b0d73fa82c7c1fe7_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915257412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915257404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915257419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915257437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915257447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915257427813.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": "0d2cc345342a460e94ff54748338ac22_b3f2736955924349912e94bea892bfa1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915254912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915254904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915254919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915254937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915254947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915254927813.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 white commercial vehicle to the front right of the ego vehicle, and a black sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,777.5,465.0>, <c2,CAM_FRONT_RIGHT,901.1,497.0>, and <c3,CAM_FRONT_RIGHT,147.5,578.3>."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_b3f2736955924349912e94bea892bfa1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915254912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915254904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915254919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915254937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915254947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915254927813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,777.5,465.0>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_b3f2736955924349912e94bea892bfa1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915254912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915254904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915254919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915254937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915254947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915254927813.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 <c1,CAM_FRONT,777.5,465.0>. The object is turning left, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_RIGHT,147.5,578.3>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT_RIGHT,901.1,497.0>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_b3f2736955924349912e94bea892bfa1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915254912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915254904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915254919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915254937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915254947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915254927813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,777.5,465.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_b3f2736955924349912e94bea892bfa1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915254912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915254904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915254919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915254937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915254947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915254927813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,777.5,465.0>? 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": "0d2cc345342a460e94ff54748338ac22_b3f2736955924349912e94bea892bfa1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915254912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915254904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915254919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915254937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915254947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915254927813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,777.5,465.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_b3f2736955924349912e94bea892bfa1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915254912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915254904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915254919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915254937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915254947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915254927813.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "0d2cc345342a460e94ff54748338ac22_b3f2736955924349912e94bea892bfa1_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915254912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915254904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915254919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915254937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915254947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915254927813.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": "04e5f089805540a5a9e73c1b7c54ee8c_bdbcf562968544a49f88e477614a7f93_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801250862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801250854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801250870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801250887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801250897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801250877893.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 sedan 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 <c1,CAM_FRONT,941.7,455.0>, <c2,CAM_FRONT_RIGHT,97.5,530.8>, and <c3,CAM_FRONT,964.2,468.3>."
            }
        ]
    },
    {
        "id": "04e5f089805540a5a9e73c1b7c54ee8c_bdbcf562968544a49f88e477614a7f93_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801250862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801250854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801250870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801250887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801250897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801250877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,941.7,455.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "04e5f089805540a5a9e73c1b7c54ee8c_bdbcf562968544a49f88e477614a7f93_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801250862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801250854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801250870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801250887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801250897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801250877893.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 <c2,CAM_FRONT_RIGHT,97.5,530.8>. It is going ahead, so the ego vehicle should continue at the same speed. Secondly, notice <c3,CAM_FRONT,964.2,468.3>. It is also going ahead, so the ego vehicle should maintain the same speed. Thirdly, notice <c1,CAM_FRONT,941.7,455.0>. It is going ahead, so the ego vehicle should continue at the same speed."
            }
        ]
    },
    {
        "id": "04e5f089805540a5a9e73c1b7c54ee8c_bdbcf562968544a49f88e477614a7f93_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801250862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801250854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801250870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801250887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801250897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801250877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,941.7,455.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "04e5f089805540a5a9e73c1b7c54ee8c_bdbcf562968544a49f88e477614a7f93_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801250862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801250854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801250870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801250887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801250897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801250877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,941.7,455.0>? 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": "04e5f089805540a5a9e73c1b7c54ee8c_bdbcf562968544a49f88e477614a7f93_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801250862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801250854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801250870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801250887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801250897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801250877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,941.7,455.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "04e5f089805540a5a9e73c1b7c54ee8c_bdbcf562968544a49f88e477614a7f93_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801250862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801250854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801250870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801250887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801250897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801250877893.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": "04e5f089805540a5a9e73c1b7c54ee8c_bdbcf562968544a49f88e477614a7f93_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801250862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801250854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801250870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801250887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801250897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801250877893.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": "6520b5f0d568414c973f791b30ee1548_047f8d54fab943b5b08b950bd2d1123a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886160012467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886160004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886160020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886160037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886160047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886160027893.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 crossing the road wearing a white shirt to the front of the ego vehicle, a white dress pedestrian to the front of the ego vehicle, a black sedan to the front of the ego vehicle, a red light to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1152.5,611.7>, <c2,CAM_FRONT,445.0,595.8>, <c3,CAM_FRONT,1470.0,525.0>, <c4,CAM_FRONT,902.0,281.0>, and <c5,CAM_FRONT,286.5,232.6>."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_047f8d54fab943b5b08b950bd2d1123a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886160012467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886160004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886160020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886160037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886160047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886160027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1152.5,611.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_047f8d54fab943b5b08b950bd2d1123a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886160012467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886160004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886160020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886160037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886160047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886160027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1152.5,611.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_047f8d54fab943b5b08b950bd2d1123a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886160012467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886160004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886160020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886160037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886160047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886160027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1152.5,611.7>? 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, which is high probability."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_047f8d54fab943b5b08b950bd2d1123a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886160012467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886160004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886160020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886160037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886160047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886160027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1152.5,611.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_047f8d54fab943b5b08b950bd2d1123a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886160012467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886160004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886160020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886160037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886160047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886160027893.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 suddenly."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_047f8d54fab943b5b08b950bd2d1123a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886160012467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886160004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886160020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886160037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886160047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886160027893.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_f3d7cea3b7fb44f0a47a88f6223e6760_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886165012462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886165004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886165020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886165037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886165047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886165027893.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 woman wearing a white shirt to the front of the ego vehicle, a black car to the front of the ego vehicle, a gray sedan to the front right of the ego vehicle, a red car to the back of the ego vehicle, a black traffic light to the front of the ego vehicle, and a black traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,198.4,542.4>, <c2,CAM_FRONT,1488.3,526.7>, <c3,CAM_FRONT_RIGHT,1214.2,566.7>, <c4,CAM_BACK,307.8,639.4>, <c5,CAM_FRONT,910.8,285.1>, and <c6,CAM_FRONT,264.4,220.3>."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_f3d7cea3b7fb44f0a47a88f6223e6760_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886165012462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886165004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886165020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886165037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886165047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886165027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,198.4,542.4>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_f3d7cea3b7fb44f0a47a88f6223e6760_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886165012462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886165004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886165020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886165037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886165047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886165027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,198.4,542.4> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_f3d7cea3b7fb44f0a47a88f6223e6760_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886165012462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886165004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886165020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886165037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886165047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886165027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,198.4,542.4>? 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 avoid a collision, which is high probability."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_f3d7cea3b7fb44f0a47a88f6223e6760_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886165012462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886165004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886165020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886165037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886165047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886165027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,198.4,542.4>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_f3d7cea3b7fb44f0a47a88f6223e6760_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886165012462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886165004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886165020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886165037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886165047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886165027893.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 suddenly, brake gently to a stop, slightly offset to the left, or slightly offset to the right."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_f3d7cea3b7fb44f0a47a88f6223e6760_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886165012462.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886165004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886165020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886165037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886165047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886165027893.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_d3685fbdf49b4d569f45f7f638f7917e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886175662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886175654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886175670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886175687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886175697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886175677893.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 car to the back of the ego vehicle, a black sedan to the front of the ego vehicle, a red car to the front right of the ego vehicle, a white sedan car to the back of the ego vehicle, a pedestrian wearing a blue shirt to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,835.8,528.3>, <c2,CAM_FRONT,1488.3,526.7>, <c3,CAM_FRONT_RIGHT,1328.0,632.9>, <c4,CAM_BACK,434.2,584.5>, <c5,CAM_FRONT,76.9,531.2>, and <c6,CAM_FRONT,261.9,220.3>."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_d3685fbdf49b4d569f45f7f638f7917e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886175662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886175654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886175670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886175687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886175697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886175677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,835.8,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_d3685fbdf49b4d569f45f7f638f7917e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886175662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886175654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886175670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886175687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886175697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886175677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,835.8,528.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_d3685fbdf49b4d569f45f7f638f7917e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886175662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886175654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886175670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886175687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886175697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886175677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,835.8,528.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason is to follow the traffic rules. The probability is high."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_d3685fbdf49b4d569f45f7f638f7917e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886175662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886175654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886175670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886175687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886175697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886175677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,835.8,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_d3685fbdf49b4d569f45f7f638f7917e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886175662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886175654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886175670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886175687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886175697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886175677893.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; brake suddenly."
            }
        ]
    },
    {
        "id": "6520b5f0d568414c973f791b30ee1548_d3685fbdf49b4d569f45f7f638f7917e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886175662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886175654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886175670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886175687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886175697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886175677893.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": "bc219c0fa63b43b4b9dddab47fce1fef_dc6765726bb343dc9e41134e0fdaa784_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884265262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884265254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884265270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884265287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884265297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884265277893.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 brown SUV to the front right of the ego vehicle, pedestrians preparing to cross the road to the front of the ego vehicle, a pedestrian to the front of the ego vehicle, a pedestrian to the back left of the ego vehicle, a pedestrian preparing to cross the road to the front of the ego vehicle, and a gray van to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1320.0,627.5>, <c2,CAM_FRONT,58.8,594.2>, <c3,CAM_FRONT,309.7,614.4>, <c4,CAM_BACK_LEFT,970.8,326.7>, <c5,CAM_FRONT,1469.2,586.7>, and <c6,CAM_FRONT,953.3,544.2>."
            }
        ]
    },
    {
        "id": "bc219c0fa63b43b4b9dddab47fce1fef_dc6765726bb343dc9e41134e0fdaa784_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884265262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884265254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884265270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884265287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884265297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884265277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,1320.0,627.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bc219c0fa63b43b4b9dddab47fce1fef_dc6765726bb343dc9e41134e0fdaa784_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884265262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884265254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884265270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884265287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884265297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884265277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1320.0,627.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bc219c0fa63b43b4b9dddab47fce1fef_dc6765726bb343dc9e41134e0fdaa784_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884265262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884265254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884265270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884265287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884265297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884265277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1320.0,627.5>? 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": "bc219c0fa63b43b4b9dddab47fce1fef_dc6765726bb343dc9e41134e0fdaa784_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884265262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884265254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884265270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884265287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884265297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884265277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1320.0,627.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "bc219c0fa63b43b4b9dddab47fce1fef_dc6765726bb343dc9e41134e0fdaa784_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884265262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884265254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884265270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884265287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884265297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884265277893.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": "bc219c0fa63b43b4b9dddab47fce1fef_dc6765726bb343dc9e41134e0fdaa784_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884265262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884265254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884265270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884265287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884265297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884265277893.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": "0ced08ea43754420a23b2fbec667a763_a54e4b6125b743db88bbe67e0b8b82c2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287212012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287212004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287212020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287212037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287212047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287212028113.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 left of the ego vehicle, a white pickup truck to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,515.8,584.2>, <c2,CAM_FRONT_LEFT,841.7,541.7>, <c3,CAM_FRONT,1201.7,497.5>, and <c4,CAM_FRONT,729.2,464.2>."
            }
        ]
    },
    {
        "id": "0ced08ea43754420a23b2fbec667a763_a54e4b6125b743db88bbe67e0b8b82c2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287212012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287212004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287212020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287212037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287212047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287212028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,515.8,584.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0ced08ea43754420a23b2fbec667a763_a54e4b6125b743db88bbe67e0b8b82c2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287212012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287212004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287212020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287212037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287212047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287212028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,515.8,584.2>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "0ced08ea43754420a23b2fbec667a763_a54e4b6125b743db88bbe67e0b8b82c2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287212012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287212004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287212020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287212037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287212047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287212028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,515.8,584.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "0ced08ea43754420a23b2fbec667a763_a54e4b6125b743db88bbe67e0b8b82c2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287212012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287212004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287212020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287212037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287212047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287212028113.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": "0ced08ea43754420a23b2fbec667a763_a54e4b6125b743db88bbe67e0b8b82c2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287212012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287212004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287212020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287212037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287212047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287212028113.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": "b57e1a48e584451f8f966ab083c8d07d_00aa056fbee4411f99bbc8b59e1ade81_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800969412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800969404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800969420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800969437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800969447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800969427893.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 white sedan to the front right of the ego vehicle, a white sedan to the front of the ego vehicle, a white truck to the back of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1025.9,549.5>, <c2,CAM_FRONT_RIGHT,163.6,732.9>, <c3,CAM_FRONT,77.5,486.7>, <c4,CAM_BACK,599.0,675.8>, and <c5,CAM_FRONT,1151.9,385.1>."
            }
        ]
    },
    {
        "id": "b57e1a48e584451f8f966ab083c8d07d_00aa056fbee4411f99bbc8b59e1ade81_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800969412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800969404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800969420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800969437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800969447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800969427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1025.9,549.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "b57e1a48e584451f8f966ab083c8d07d_00aa056fbee4411f99bbc8b59e1ade81_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800969412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800969404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800969420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800969437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800969447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800969427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1025.9,549.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b57e1a48e584451f8f966ab083c8d07d_00aa056fbee4411f99bbc8b59e1ade81_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800969412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800969404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800969420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800969437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800969447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800969427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1025.9,549.5>? 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": "b57e1a48e584451f8f966ab083c8d07d_00aa056fbee4411f99bbc8b59e1ade81_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800969412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800969404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800969420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800969437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800969447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800969427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,163.6,732.9>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "b57e1a48e584451f8f966ab083c8d07d_00aa056fbee4411f99bbc8b59e1ade81_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800969412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800969404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800969420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800969437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800969447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800969427893.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, brake suddenly, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "b57e1a48e584451f8f966ab083c8d07d_00aa056fbee4411f99bbc8b59e1ade81_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800969412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800969404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800969420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800969437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800969447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800969427893.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": "85d5e2548a5e454fa65a739ac0ac55c2_f780b05ff58d4e63bbe3dd334db3875a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449173912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449173904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449173920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449173937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449173947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449173927893.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 blue sedan car to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a blue sedan to the front of the ego vehicle, a black SUV to the front right of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,828.3,525.0>, <c2,CAM_FRONT,1070.0,520.8>, <c3,CAM_FRONT,1185.8,531.7>, <c4,CAM_FRONT,1313.3,546.7>, <c5,CAM_FRONT_RIGHT,380.8,682.3>, and <c6,CAM_FRONT,654.7,493.1>."
            }
        ]
    },
    {
        "id": "85d5e2548a5e454fa65a739ac0ac55c2_f780b05ff58d4e63bbe3dd334db3875a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449173912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449173904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449173920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449173937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449173947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449173927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,828.3,525.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "85d5e2548a5e454fa65a739ac0ac55c2_f780b05ff58d4e63bbe3dd334db3875a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449173912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449173904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449173920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449173937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449173947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449173927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,828.3,525.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "85d5e2548a5e454fa65a739ac0ac55c2_f780b05ff58d4e63bbe3dd334db3875a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449173912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449173904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449173920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449173937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449173947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449173927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,828.3,525.0>? 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": "85d5e2548a5e454fa65a739ac0ac55c2_f780b05ff58d4e63bbe3dd334db3875a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449173912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449173904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449173920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449173937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449173947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449173927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,828.3,525.0>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "85d5e2548a5e454fa65a739ac0ac55c2_f780b05ff58d4e63bbe3dd334db3875a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449173912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449173904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449173920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449173937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449173947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449173927893.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."
            }
        ]
    },
    {
        "id": "85d5e2548a5e454fa65a739ac0ac55c2_f780b05ff58d4e63bbe3dd334db3875a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449173912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449173904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449173920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449173937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449173947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449173927893.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": "85d5e2548a5e454fa65a739ac0ac55c2_71a87c60f8094230bcff05a875a5ac90_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449159862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449159854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449159870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449159887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449159897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449159877893.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 back of the ego vehicle, a white sedan to the front of the ego vehicle, a blue sedan to the front of the ego vehicle, a black 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 <c1,CAM_BACK,822.5,647.5>, <c2,CAM_FRONT,1079.2,486.7>, <c3,CAM_FRONT,1115.0,490.0>, <c4,CAM_BACK,542.5,598.3>, and <c5,CAM_FRONT,339.6,426.5>."
            }
        ]
    },
    {
        "id": "85d5e2548a5e454fa65a739ac0ac55c2_71a87c60f8094230bcff05a875a5ac90_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449159862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449159854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449159870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449159887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449159897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449159877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,542.5,598.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "85d5e2548a5e454fa65a739ac0ac55c2_71a87c60f8094230bcff05a875a5ac90_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449159862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449159854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449159870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449159887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449159897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449159877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,822.5,647.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "85d5e2548a5e454fa65a739ac0ac55c2_71a87c60f8094230bcff05a875a5ac90_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449159862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449159854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449159870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449159887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449159897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449159877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,822.5,647.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason is to follow the traffic rules, which has a high probability."
            }
        ]
    },
    {
        "id": "85d5e2548a5e454fa65a739ac0ac55c2_71a87c60f8094230bcff05a875a5ac90_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449159862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449159854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449159870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449159887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449159897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449159877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,822.5,647.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "85d5e2548a5e454fa65a739ac0ac55c2_71a87c60f8094230bcff05a875a5ac90_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449159862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449159854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449159870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449159887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449159897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449159877893.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."
            }
        ]
    },
    {
        "id": "85d5e2548a5e454fa65a739ac0ac55c2_71a87c60f8094230bcff05a875a5ac90_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449159862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449159854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449159870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449159887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449159897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449159877893.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": "2bbae5e654224cbeb5884c471e2ad05e_0174fba1b4014f23b54f5c1c8f25de48_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488340762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488340754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488340770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488340787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488340797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488340778113.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 back of the ego vehicle, a black SUV to the front of the ego vehicle, a white bus to the front of the ego vehicle, a blue sedan 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 <c1,CAM_BACK,855.0,532.5>, <c2,CAM_FRONT,935.5,536.3>, <c3,CAM_FRONT,1550.8,479.2>, <c4,CAM_FRONT_RIGHT,353.4,703.9>, and <c5,CAM_FRONT,869.0,300.6>."
            }
        ]
    },
    {
        "id": "2bbae5e654224cbeb5884c471e2ad05e_0174fba1b4014f23b54f5c1c8f25de48_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488340762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488340754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488340770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488340787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488340797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488340778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,855.0,532.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2bbae5e654224cbeb5884c471e2ad05e_0174fba1b4014f23b54f5c1c8f25de48_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488340762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488340754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488340770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488340787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488340797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488340778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,855.0,532.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2bbae5e654224cbeb5884c471e2ad05e_0174fba1b4014f23b54f5c1c8f25de48_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488340762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488340754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488340770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488340787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488340797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488340778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,855.0,532.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to brake gently to a stop. The reason is that there is no safety issue. The probability is high."
            }
        ]
    },
    {
        "id": "2bbae5e654224cbeb5884c471e2ad05e_0174fba1b4014f23b54f5c1c8f25de48_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488340762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488340754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488340770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488340787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488340797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488340778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,855.0,532.5>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "2bbae5e654224cbeb5884c471e2ad05e_0174fba1b4014f23b54f5c1c8f25de48_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488340762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488340754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488340770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488340787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488340797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488340778113.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": "2bbae5e654224cbeb5884c471e2ad05e_0174fba1b4014f23b54f5c1c8f25de48_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488340762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488340754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488340770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488340787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488340797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488340778113.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": "2bbae5e654224cbeb5884c471e2ad05e_d755fb38038b4a0e9088b78a8b27a3c6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488344162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488344154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488344170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488344187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488344197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488344178113.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 back of the ego vehicle, a black SUV to the front of the ego vehicle, a white house car to the front right of the ego vehicle, a black sedan 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 <c1,CAM_BACK,761.7,566.7>, <c2,CAM_FRONT,743.3,589.2>, <c3,CAM_FRONT_RIGHT,51.7,515.8>, <c4,CAM_FRONT_RIGHT,829.8,696.4>, and <c5,CAM_FRONT,773.1,291.8>."
            }
        ]
    },
    {
        "id": "2bbae5e654224cbeb5884c471e2ad05e_d755fb38038b4a0e9088b78a8b27a3c6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488344162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488344154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488344170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488344187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488344197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488344178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,761.7,566.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2bbae5e654224cbeb5884c471e2ad05e_d755fb38038b4a0e9088b78a8b27a3c6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488344162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488344154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488344170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488344187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488344197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488344178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,761.7,566.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2bbae5e654224cbeb5884c471e2ad05e_d755fb38038b4a0e9088b78a8b27a3c6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488344162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488344154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488344170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488344187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488344197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488344178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,761.7,566.7>? 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. The probability of this action is high."
            }
        ]
    },
    {
        "id": "2bbae5e654224cbeb5884c471e2ad05e_d755fb38038b4a0e9088b78a8b27a3c6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488344162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488344154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488344170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488344187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488344197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488344178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,761.7,566.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "2bbae5e654224cbeb5884c471e2ad05e_d755fb38038b4a0e9088b78a8b27a3c6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488344162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488344154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488344170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488344187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488344197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488344178113.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, or slightly offset to the right."
            }
        ]
    },
    {
        "id": "2bbae5e654224cbeb5884c471e2ad05e_d755fb38038b4a0e9088b78a8b27a3c6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488344162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488344154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488344170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488344187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488344197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488344178113.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": "37cfda558193400bbe3a5ff14ae4606e_07dc3de5af97483687c849c964b72e3f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296498662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296498654805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296498670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296498687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296498697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296498678113.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 black sedan to the front of the ego vehicle, a white truck to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,641.7,496.7>, <c2,CAM_FRONT,800.8,492.5>, <c3,CAM_FRONT,713.3,475.8>, and <c4,CAM_FRONT,934.4,363.2>."
            }
        ]
    },
    {
        "id": "37cfda558193400bbe3a5ff14ae4606e_07dc3de5af97483687c849c964b72e3f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296498662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296498654805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296498670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296498687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296498697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296498678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,641.7,496.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "37cfda558193400bbe3a5ff14ae4606e_07dc3de5af97483687c849c964b72e3f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296498662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296498654805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296498670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296498687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296498697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296498678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,641.7,496.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "37cfda558193400bbe3a5ff14ae4606e_07dc3de5af97483687c849c964b72e3f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296498662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296498654805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296498670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296498687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296498697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296498678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,641.7,496.7>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "37cfda558193400bbe3a5ff14ae4606e_07dc3de5af97483687c849c964b72e3f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296498662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296498654805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296498670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296498687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296498697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296498678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,641.7,496.7>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "37cfda558193400bbe3a5ff14ae4606e_07dc3de5af97483687c849c964b72e3f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296498662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296498654805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296498670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296498687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296498697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296498678113.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, slightly offset to the right, turn left, or turn right."
            }
        ]
    },
    {
        "id": "37cfda558193400bbe3a5ff14ae4606e_07dc3de5af97483687c849c964b72e3f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296498662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296498654805.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296498670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296498687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296498697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296498678113.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": "37cfda558193400bbe3a5ff14ae4606e_25e3b4543fa8495cbfbb3ccad476957d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296502762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296502754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296502770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296502787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296502797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296502778113.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 front of the ego vehicle, a black sedan car to the front of the ego vehicle, and a yellow light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1547.5,470.0>, <c2,CAM_FRONT,360.8,487.5>, and <c3,CAM_FRONT,1497.2,125.0>."
            }
        ]
    },
    {
        "id": "37cfda558193400bbe3a5ff14ae4606e_25e3b4543fa8495cbfbb3ccad476957d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296502762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296502754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296502770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296502787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296502797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296502778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,360.8,487.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "37cfda558193400bbe3a5ff14ae4606e_25e3b4543fa8495cbfbb3ccad476957d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296502762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296502754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296502770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296502787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296502797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296502778113.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 <c3,CAM_FRONT,1497.2,125.0>. The object is a traffic sign, so the ego vehicle should decelerate gradually until it comes to a stop. Secondly, notice that <c2,CAM_FRONT,360.8,487.5>. The object is turning left, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT,1547.5,470.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "37cfda558193400bbe3a5ff14ae4606e_25e3b4543fa8495cbfbb3ccad476957d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296502762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296502754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296502770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296502787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296502797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296502778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1547.5,470.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "37cfda558193400bbe3a5ff14ae4606e_25e3b4543fa8495cbfbb3ccad476957d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296502762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296502754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296502770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296502787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296502797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296502778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1547.5,470.0>? 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 is high."
            }
        ]
    },
    {
        "id": "37cfda558193400bbe3a5ff14ae4606e_25e3b4543fa8495cbfbb3ccad476957d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296502762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296502754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296502770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296502787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296502797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296502778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1547.5,470.0>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "37cfda558193400bbe3a5ff14ae4606e_25e3b4543fa8495cbfbb3ccad476957d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296502762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296502754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296502770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296502787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296502797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296502778113.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 brake gently to a stop."
            }
        ]
    },
    {
        "id": "37cfda558193400bbe3a5ff14ae4606e_25e3b4543fa8495cbfbb3ccad476957d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296502762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296502754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296502770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296502787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296502797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296502778113.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": "e3b6fe9201c64334be311d4249a0c80e_967a3cd451cc4ce3b12f948060ae8261_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801293912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801293904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801293920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801293937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801293947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801293927893.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 bread to the front of the ego vehicle, a white truck to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, a black sedan car to the front right of the ego vehicle, and a person riding a bike to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,842.5,552.5>, <c2,CAM_FRONT,1073.3,465.8>, <c3,CAM_BACK,194.2,682.5>, <c4,CAM_FRONT_RIGHT,1191.7,574.2>, and <c5,CAM_BACK_RIGHT,394.2,565.0>."
            }
        ]
    },
    {
        "id": "e3b6fe9201c64334be311d4249a0c80e_967a3cd451cc4ce3b12f948060ae8261_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801293912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801293904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801293920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801293937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801293947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801293927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,842.5,552.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e3b6fe9201c64334be311d4249a0c80e_967a3cd451cc4ce3b12f948060ae8261_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801293912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801293904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801293920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801293937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801293947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801293927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,842.5,552.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e3b6fe9201c64334be311d4249a0c80e_967a3cd451cc4ce3b12f948060ae8261_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801293912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801293904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801293920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801293937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801293947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801293927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,842.5,552.5>? 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": "e3b6fe9201c64334be311d4249a0c80e_967a3cd451cc4ce3b12f948060ae8261_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801293912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801293904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801293920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801293937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801293947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801293927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,842.5,552.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "e3b6fe9201c64334be311d4249a0c80e_967a3cd451cc4ce3b12f948060ae8261_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801293912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801293904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801293920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801293937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801293947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801293927893.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": "e3b6fe9201c64334be311d4249a0c80e_967a3cd451cc4ce3b12f948060ae8261_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801293912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801293904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801293920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801293937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801293947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801293927893.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": "54cdaaae372d421fa4734d66f51a8c48_1b45a97a0e5e49fe9cd345dd4bd729c3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.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 blue sedan to the front right of the ego vehicle, a white sedan to the front right of the ego vehicle, a white van to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,767.5,513.3>, <c2,CAM_FRONT_RIGHT,420.0,540.0>, <c3,CAM_FRONT_RIGHT,787.5,529.2>, <c4,CAM_FRONT,13.3,475.0>, and <c5,CAM_FRONT,710.5,340.9>."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_1b45a97a0e5e49fe9cd345dd4bd729c3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,767.5,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_1b45a97a0e5e49fe9cd345dd4bd729c3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,767.5,513.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_1b45a97a0e5e49fe9cd345dd4bd729c3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,767.5,513.3>? 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. The probability of this action is high."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_1b45a97a0e5e49fe9cd345dd4bd729c3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,767.5,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_1b45a97a0e5e49fe9cd345dd4bd729c3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.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, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_1b45a97a0e5e49fe9cd345dd4bd729c3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.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": "54cdaaae372d421fa4734d66f51a8c48_0dd14c14cea14dc1b0c0c9b0c9c7c4c3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280036162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280036154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280036170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280036187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280036197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280036177893.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 front of the ego vehicle, a black sedan to the front of the ego vehicle, and a no entry to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1321.7,495.0>, <c2,CAM_FRONT,629.2,475.0>, <c3,CAM_FRONT,769.2,485.0>, and <c4,CAM_FRONT,688.8,371.7>."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_0dd14c14cea14dc1b0c0c9b0c9c7c4c3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280036162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280036154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280036170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280036187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280036197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280036177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1321.7,495.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_0dd14c14cea14dc1b0c0c9b0c9c7c4c3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280036162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280036154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280036170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280036187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280036197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280036177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1321.7,495.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_0dd14c14cea14dc1b0c0c9b0c9c7c4c3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280036162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280036154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280036170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280036187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280036197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280036177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1321.7,495.0>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep going at the same speed, the reason being that there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_0dd14c14cea14dc1b0c0c9b0c9c7c4c3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280036162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280036154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280036170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280036187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280036197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280036177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,629.2,475.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c2,CAM_FRONT,629.2,475.0>."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_0dd14c14cea14dc1b0c0c9b0c9c7c4c3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280036162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280036154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280036170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280036187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280036197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280036177893.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": "54cdaaae372d421fa4734d66f51a8c48_0dd14c14cea14dc1b0c0c9b0c9c7c4c3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280036162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280036154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280036170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280036187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280036197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280036177893.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": "54cdaaae372d421fa4734d66f51a8c48_d5e16062410f4e329d31a881b28e5c1c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280045112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280045104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280045120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280045137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280045147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280045127893.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 right of the ego vehicle, a white sedan to the front of the ego vehicle, a gray sedan to the front of the ego vehicle, a white sedan to the front right of the ego vehicle, and a no entry to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,850.0,484.2>, <c2,CAM_FRONT,684.2,500.0>, <c3,CAM_FRONT,1180.8,541.7>, <c4,CAM_FRONT_RIGHT,338.3,540.0>, and <c5,CAM_FRONT,713.2,321.9>."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_d5e16062410f4e329d31a881b28e5c1c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280045112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280045104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280045120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280045137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280045147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280045127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,850.0,484.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_d5e16062410f4e329d31a881b28e5c1c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280045112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280045104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280045120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280045137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280045147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280045127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,850.0,484.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_d5e16062410f4e329d31a881b28e5c1c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280045112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280045104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280045120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280045137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280045147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280045127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,850.0,484.2>? 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 traffic rules. The probability of this action is high."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_d5e16062410f4e329d31a881b28e5c1c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280045112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280045104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280045120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280045137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280045147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280045127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,850.0,484.2>?"
            },
            {
                "from": "gpt",
                "value": "Turning right and accelerating."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_d5e16062410f4e329d31a881b28e5c1c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280045112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280045104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280045120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280045137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280045147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280045127893.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": "54cdaaae372d421fa4734d66f51a8c48_d5e16062410f4e329d31a881b28e5c1c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280045112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280045104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280045120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280045137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280045147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280045127893.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": "54cdaaae372d421fa4734d66f51a8c48_542eaf1fc9b34895a9e55fab57cb4cf4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280039162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280039154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280039170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280039187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280039197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280039177893.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 front of the ego vehicle, a white SUV to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,714.3,503.6>, <c2,CAM_FRONT,993.3,503.3>, <c3,CAM_FRONT,1300.8,531.7>, <c4,CAM_FRONT,892.5,507.5>, and <c5,CAM_FRONT,712.6,361.8>."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_542eaf1fc9b34895a9e55fab57cb4cf4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280039162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280039154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280039170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280039187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280039197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280039177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,714.3,503.6>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_542eaf1fc9b34895a9e55fab57cb4cf4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280039162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280039154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280039170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280039187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280039197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280039177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,714.3,503.6> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_542eaf1fc9b34895a9e55fab57cb4cf4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280039162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280039154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280039170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280039187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280039197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280039177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,714.3,503.6>? 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": "54cdaaae372d421fa4734d66f51a8c48_542eaf1fc9b34895a9e55fab57cb4cf4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280039162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280039154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280039170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280039187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280039197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280039177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,714.3,503.6>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_542eaf1fc9b34895a9e55fab57cb4cf4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280039162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280039154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280039170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280039187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280039197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280039177893.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, brake suddenly, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "54cdaaae372d421fa4734d66f51a8c48_542eaf1fc9b34895a9e55fab57cb4cf4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280039162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280039154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280039170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280039187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280039197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280039177893.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": "788c5502523f4d01b3a8de47ec3dadfb_411d26f26cc14405870448b7ad2f4700_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659391912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659391904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659391920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659391937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659391947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659391928228.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 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 <c1,CAM_FRONT,1039.2,476.7>, <c2,CAM_BACK,892.5,497.5>, and <c3,CAM_FRONT,927.0,409.7>."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_411d26f26cc14405870448b7ad2f4700_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659391912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659391904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659391920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659391937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659391947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659391928228.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,892.5,497.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_411d26f26cc14405870448b7ad2f4700_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659391912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659391904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659391920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659391937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659391947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659391928228.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 <c1,CAM_FRONT,1039.2,476.7>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,927.0,409.7>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,892.5,497.5>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_411d26f26cc14405870448b7ad2f4700_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659391912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659391904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659391920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659391937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659391947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659391928228.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1039.2,476.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_411d26f26cc14405870448b7ad2f4700_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659391912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659391904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659391920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659391937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659391947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659391928228.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1039.2,476.7>? 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": "788c5502523f4d01b3a8de47ec3dadfb_411d26f26cc14405870448b7ad2f4700_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659391912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659391904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659391920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659391937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659391947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659391928228.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1039.2,476.7>?"
            },
            {
                "from": "gpt",
                "value": "No action will lead to a collision."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_411d26f26cc14405870448b7ad2f4700_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659391912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659391904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659391920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659391937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659391947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659391928228.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_411d26f26cc14405870448b7ad2f4700_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659391912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659391904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659391920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659391937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659391947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659391928228.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_91006e537d574272b3a5b5e09f4066d2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659405762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659405754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659405770499.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659405787584.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659405797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659405778113.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 red top and gray shorts to the front of the ego vehicle, a black car to the back of the ego vehicle, a black traffic light to the front of the ego vehicle, and a blue sign with white numbers to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,30.0,539.2>, <c2,CAM_BACK,844.2,584.2>, <c3,CAM_FRONT,979.6,235.7>, and <c4,CAM_FRONT,1437.3,408.8>."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_91006e537d574272b3a5b5e09f4066d2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659405762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659405754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659405770499.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659405787584.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659405797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659405778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,30.0,539.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_91006e537d574272b3a5b5e09f4066d2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659405762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659405754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659405770499.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659405787584.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659405797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659405778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,30.0,539.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_91006e537d574272b3a5b5e09f4066d2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659405762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659405754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659405770499.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659405787584.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659405797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659405778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,30.0,539.2>? 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."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_91006e537d574272b3a5b5e09f4066d2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659405762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659405754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659405770499.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659405787584.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659405797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659405778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,30.0,539.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_91006e537d574272b3a5b5e09f4066d2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659405762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659405754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659405770499.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659405787584.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659405797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659405778113.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_91006e537d574272b3a5b5e09f4066d2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659405762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659405754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659405770499.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659405787584.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659405797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659405778113.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_f16120e176124c46bb22d25e50491bae_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659397862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659397854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659397870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659397887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659397897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659397878113.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 car to the back of the ego vehicle, a blue speed limit sign to the front of the ego vehicle, a traffic signal to the front of the ego vehicle, and a white stripes to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,850.0,490.0>, <c2,CAM_FRONT,946.5,461.4>, <c3,CAM_FRONT,848.9,353.8>, and <c4,CAM_FRONT,718.4,545.4>."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_f16120e176124c46bb22d25e50491bae_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659397862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659397854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659397870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659397887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659397897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659397878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,850.0,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_f16120e176124c46bb22d25e50491bae_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659397862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659397854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659397870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659397887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659397897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659397878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,850.0,490.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_f16120e176124c46bb22d25e50491bae_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659397862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659397854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659397870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659397887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659397897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659397878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,850.0,490.0>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_f16120e176124c46bb22d25e50491bae_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659397862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659397854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659397870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659397887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659397897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659397878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,850.0,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_f16120e176124c46bb22d25e50491bae_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659397862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659397854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659397870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659397887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659397897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659397878113.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, and slightly offset to the right."
            }
        ]
    },
    {
        "id": "788c5502523f4d01b3a8de47ec3dadfb_f16120e176124c46bb22d25e50491bae_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659397862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659397854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659397870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659397887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659397897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659397878113.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": "0e37d4a357db4246a908cfd97d17efc6_a151f7b0e9924349ad27d2f954f9ddb3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402321862578.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402321854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402321870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402321887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402321897447.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402321877893.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 front of the ego vehicle, a pedestrian on the roadside to the front left of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,970.0,497.5>, <c2,CAM_FRONT_LEFT,142.5,503.3>, and <c3,CAM_FRONT,887.5,486.7>."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_a151f7b0e9924349ad27d2f954f9ddb3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402321862578.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402321854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402321870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402321887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402321897447.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402321877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,970.0,497.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_a151f7b0e9924349ad27d2f954f9ddb3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402321862578.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402321854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402321870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402321887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402321897447.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402321877893.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": "First, notice <c3,CAM_FRONT,887.5,486.7>; the object is going forward, so the ego vehicle should maintain speed and continue forward. Second, notice <c1,CAM_FRONT,970.0,497.5>; the object is going forward, so the ego vehicle should maintain speed and continue forward. Lastly, notice <c2,CAM_FRONT_LEFT,142.5,503.3>; the object is going forward, so the ego vehicle should maintain a constant speed and continue forward."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_a151f7b0e9924349ad27d2f954f9ddb3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402321862578.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402321854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402321870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402321887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402321897447.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402321877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,970.0,497.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_a151f7b0e9924349ad27d2f954f9ddb3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402321862578.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402321854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402321870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402321887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402321897447.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402321877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,970.0,497.5>? 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": "0e37d4a357db4246a908cfd97d17efc6_a151f7b0e9924349ad27d2f954f9ddb3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402321862578.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402321854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402321870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402321887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402321897447.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402321877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT,887.5,486.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_a151f7b0e9924349ad27d2f954f9ddb3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402321862578.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402321854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402321870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402321887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402321897447.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402321877893.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": "0e37d4a357db4246a908cfd97d17efc6_a151f7b0e9924349ad27d2f954f9ddb3_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402321862578.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402321854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402321870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402321887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402321897447.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402321877893.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": "0e37d4a357db4246a908cfd97d17efc6_a475df2663484288942be40c8b53a3c3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402307162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402307154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402307170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402307187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402307197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402307177893.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 golden sedan to the front of the ego vehicle, a silver van to the front of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,385.8,583.3>, <c2,CAM_FRONT,677.5,499.2>, and <c3,CAM_FRONT,649.2,517.5>."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_a475df2663484288942be40c8b53a3c3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402307162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402307154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402307170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402307187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402307197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402307177893.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": "First, notice <c1,CAM_FRONT,385.8,583.3>, which is stationary, so the ego vehicle should proceed at a constant speed. Second, notice <c3,CAM_FRONT,649.2,517.5>, which is stationary, so the ego vehicle should proceed at a constant speed. Finally, notice <c2,CAM_FRONT,677.5,499.2>, which is stationary, so the ego vehicle should proceed at a constant speed."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_a475df2663484288942be40c8b53a3c3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402307162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402307154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402307170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402307187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402307197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402307177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,385.8,583.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_a475df2663484288942be40c8b53a3c3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402307162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402307154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402307170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402307187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402307197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402307177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,385.8,583.3>? 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": "0e37d4a357db4246a908cfd97d17efc6_a475df2663484288942be40c8b53a3c3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402307162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402307154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402307170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402307187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402307197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402307177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,385.8,583.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_a475df2663484288942be40c8b53a3c3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402307162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402307154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402307170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402307187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402307197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402307177893.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, brake gently to a stop, brake suddenly, decelerate gradually without braking, slightly offset to the right, change to the right lane, turn right, or back up."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_a475df2663484288942be40c8b53a3c3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402307162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402307154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402307170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402307187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402307197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402307177893.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": "0e37d4a357db4246a908cfd97d17efc6_34801195772643398d62604284d7d529_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402311162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402311154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402311172590.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402311187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402311197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402311177893.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 and white business car to the back of the ego vehicle, a white signpost to the front of the ego vehicle, and a red car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1135.8,573.3>, <c2,CAM_FRONT,667.2,662.2>, and <c3,CAM_FRONT,939.0,460.9>."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_34801195772643398d62604284d7d529_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402311162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402311154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402311172590.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402311187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402311197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402311177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1135.8,573.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_34801195772643398d62604284d7d529_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402311162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402311154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402311172590.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402311187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402311197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402311177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1135.8,573.3>? 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": "0e37d4a357db4246a908cfd97d17efc6_34801195772643398d62604284d7d529_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402311162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402311154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402311172590.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402311187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402311197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402311177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT,939.0,460.9>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_34801195772643398d62604284d7d529_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402311162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402311154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402311172590.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402311187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402311197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402311177893.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, slightly offset to the right, change to the left lane, change to the right lane, turn left, or turn right."
            }
        ]
    },
    {
        "id": "0e37d4a357db4246a908cfd97d17efc6_34801195772643398d62604284d7d529_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402311162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402311154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402311172590.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402311187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402311197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402311177893.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": "a4fe925930de41489b12b85b77d2f0cb_a465900f1c8f4745a6a90e01c53665c8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932128912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932128904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932128920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932128937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932128947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932128927893.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 van to the front right of the ego vehicle, a walking person to the front of the ego vehicle, a person with a backpack to the front of the ego vehicle, a blue sedan to the front of the ego vehicle, a silver sedan to the back of the ego vehicle, and a white right turn arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,865.0,601.7>, <c2,CAM_FRONT,602.5,558.3>, <c3,CAM_FRONT,1366.7,567.5>, <c4,CAM_FRONT,1017.5,572.5>, <c5,CAM_BACK,844.2,586.7>, and <c6,CAM_FRONT,845.3,612.9>."
            }
        ]
    },
    {
        "id": "a4fe925930de41489b12b85b77d2f0cb_a465900f1c8f4745a6a90e01c53665c8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932128912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932128904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932128920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932128937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932128947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932128927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,602.5,558.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "a4fe925930de41489b12b85b77d2f0cb_a465900f1c8f4745a6a90e01c53665c8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932128912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932128904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932128920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932128937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932128947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932128927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,865.0,601.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a4fe925930de41489b12b85b77d2f0cb_a465900f1c8f4745a6a90e01c53665c8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932128912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932128904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932128920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932128937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932128947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932128927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,865.0,601.7>? 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": "a4fe925930de41489b12b85b77d2f0cb_a465900f1c8f4745a6a90e01c53665c8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932128912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932128904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932128920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932128937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932128947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932128927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,865.0,601.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "a4fe925930de41489b12b85b77d2f0cb_a465900f1c8f4745a6a90e01c53665c8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932128912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932128904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932128920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932128937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932128947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932128927893.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": "a4fe925930de41489b12b85b77d2f0cb_a465900f1c8f4745a6a90e01c53665c8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932128912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932128904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932128920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932128937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932128947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932128927893.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": "bef135921f374f838bf0badae55cac83_985437a928ff4f0b87482377d2528458_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915453012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915453004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915453019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915453037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915453047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915453027813.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 of the ego vehicle, a white SUV to the back right of the ego vehicle, a red car to the back of the ego vehicle, a dark blue pickup truck to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a silver-gray sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,592.5,453.3>, <c2,CAM_BACK_RIGHT,478.3,592.5>, <c3,CAM_BACK,678.3,417.5>, <c4,CAM_FRONT,791.7,448.3>, <c5,CAM_BACK,429.2,433.3>, and <c6,CAM_FRONT_RIGHT,724.2,555.8>."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_985437a928ff4f0b87482377d2528458_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915453012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915453004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915453019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915453037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915453047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915453027813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,678.3,417.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_985437a928ff4f0b87482377d2528458_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915453012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915453004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915453019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915453037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915453047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915453027813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,592.5,453.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_985437a928ff4f0b87482377d2528458_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915453012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915453004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915453019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915453037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915453047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915453027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,592.5,453.3>? 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": "bef135921f374f838bf0badae55cac83_985437a928ff4f0b87482377d2528458_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915453012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915453004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915453019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915453037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915453047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915453027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_BACK,678.3,417.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_985437a928ff4f0b87482377d2528458_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915453012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915453004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915453019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915453037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915453047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915453027813.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": "bef135921f374f838bf0badae55cac83_985437a928ff4f0b87482377d2528458_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915453012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915453004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915453019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915453037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915453047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915453027813.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": "bef135921f374f838bf0badae55cac83_940255204d774b87b7a3290ff0fcbcff_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915457012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915457004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915457019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915457037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915457047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915457027813.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 car to the front left of the ego vehicle, a walking pedestrian to the back left of the ego vehicle, a silver sedan to the back of the ego vehicle, an orange small truck to the back right of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1121.5,593.8>, <c2,CAM_BACK_LEFT,1336.7,505.0>, <c3,CAM_BACK,655.8,420.8>, <c4,CAM_BACK_RIGHT,846.7,582.5>, and <c5,CAM_FRONT,765.1,445.0>."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_940255204d774b87b7a3290ff0fcbcff_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915457012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915457004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915457019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915457037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915457047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915457027813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1121.5,593.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_940255204d774b87b7a3290ff0fcbcff_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915457012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915457004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915457019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915457037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915457047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915457027813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1121.5,593.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_940255204d774b87b7a3290ff0fcbcff_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915457012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915457004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915457019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915457037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915457047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915457027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1121.5,593.8>? 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": "bef135921f374f838bf0badae55cac83_940255204d774b87b7a3290ff0fcbcff_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915457012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915457004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915457019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915457037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915457047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915457027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1121.5,593.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_940255204d774b87b7a3290ff0fcbcff_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915457012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915457004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915457019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915457037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915457047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915457027813.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": "bef135921f374f838bf0badae55cac83_940255204d774b87b7a3290ff0fcbcff_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915457012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915457004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915457019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915457037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915457047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915457027813.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": "bef135921f374f838bf0badae55cac83_ed4cccde4fe14f96a84c0b07b3bbcc05_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915458912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915458904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915458919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915458937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915458947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915458927813.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 front left of the ego vehicle, a black pickup truck to the back of the ego vehicle, a black sedan to the back of the ego vehicle, a gray SUV to the back right of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1014.2,531.7>, <c2,CAM_BACK,793.3,428.3>, <c3,CAM_BACK,676.7,420.0>, <c4,CAM_BACK_RIGHT,332.5,602.5>, and <c5,CAM_FRONT,792.7,448.9>."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_ed4cccde4fe14f96a84c0b07b3bbcc05_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915458912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915458904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915458919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915458937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915458947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915458927813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,793.3,428.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_ed4cccde4fe14f96a84c0b07b3bbcc05_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915458912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915458904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915458919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915458937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915458947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915458927813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1014.2,531.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_ed4cccde4fe14f96a84c0b07b3bbcc05_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915458912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915458904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915458919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915458937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915458947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915458927813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1014.2,531.7>? 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": "bef135921f374f838bf0badae55cac83_ed4cccde4fe14f96a84c0b07b3bbcc05_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915458912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915458904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915458919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915458937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915458947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915458927813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,793.3,428.3>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane, backing up."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_ed4cccde4fe14f96a84c0b07b3bbcc05_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915458912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915458904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915458919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915458937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915458947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915458927813.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": "bef135921f374f838bf0badae55cac83_ed4cccde4fe14f96a84c0b07b3bbcc05_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915458912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915458904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915458919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915458937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915458947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915458927813.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": "bef135921f374f838bf0badae55cac83_2fda9e45a937412aa7bdfc599bf227b8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915460412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915460404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915460419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915460437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915460447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915460427813.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 left of the ego vehicle, a white sedan to the front of the ego vehicle, a black sedan to the back of the ego vehicle, a silver sedan to the front left of the ego vehicle, and a red car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,586.7,600.8>, <c2,CAM_FRONT,275.0,475.8>, <c3,CAM_BACK,665.8,425.8>, <c4,CAM_FRONT_LEFT,1109.2,515.0>, and <c5,CAM_FRONT,812.2,447.1>."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_2fda9e45a937412aa7bdfc599bf227b8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915460412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915460404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915460419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915460437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915460447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915460427813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,665.8,425.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_2fda9e45a937412aa7bdfc599bf227b8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915460412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915460404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915460419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915460437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915460447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915460427813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,586.7,600.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_2fda9e45a937412aa7bdfc599bf227b8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915460412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915460404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915460419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915460437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915460447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915460427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,586.7,600.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_2fda9e45a937412aa7bdfc599bf227b8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915460412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915460404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915460419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915460437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915460447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915460427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,586.7,600.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_2fda9e45a937412aa7bdfc599bf227b8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915460412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915460404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915460419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915460437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915460447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915460427813.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 continue ahead."
            }
        ]
    },
    {
        "id": "bef135921f374f838bf0badae55cac83_2fda9e45a937412aa7bdfc599bf227b8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915460412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915460404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915460419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915460437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915460447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915460427813.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": "c6d1085c40614693a046dae3168bdb35_e914eaeb21434d9bb5e836494ea8fdec_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193187862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193187854928.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193187870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193187887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193187897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193187877893.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 bus to the front of the ego vehicle, a white SUV to the back of the ego vehicle, a location vehicle to the front of the ego vehicle, and a straight and left turn sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1364.2,442.5>, <c2,CAM_BACK,836.7,570.8>, <c3,CAM_FRONT,950.0,351.7>, and <c4,CAM_FRONT,851.9,728.9>."
            }
        ]
    },
    {
        "id": "c6d1085c40614693a046dae3168bdb35_e914eaeb21434d9bb5e836494ea8fdec_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193187862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193187854928.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193187870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193187887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193187897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193187877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1364.2,442.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c6d1085c40614693a046dae3168bdb35_e914eaeb21434d9bb5e836494ea8fdec_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193187862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193187854928.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193187870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193187887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193187897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193187877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1364.2,442.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c6d1085c40614693a046dae3168bdb35_e914eaeb21434d9bb5e836494ea8fdec_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193187862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193187854928.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193187870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193187887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193187897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193187877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1364.2,442.5>? 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": "c6d1085c40614693a046dae3168bdb35_e914eaeb21434d9bb5e836494ea8fdec_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193187862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193187854928.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193187870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193187887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193187897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193187877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1364.2,442.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "c6d1085c40614693a046dae3168bdb35_e914eaeb21434d9bb5e836494ea8fdec_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193187862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193187854928.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193187870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193187887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193187897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193187877893.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, and change to the left lane."
            }
        ]
    },
    {
        "id": "c6d1085c40614693a046dae3168bdb35_e914eaeb21434d9bb5e836494ea8fdec_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193187862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193187854928.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193187870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193187887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193187897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193187877893.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": "c6d1085c40614693a046dae3168bdb35_e7437558e1594d58871c54b11205bf51_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193188862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193188854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193188870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193188887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193188897453.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193188877893.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 bus to the front right of the ego vehicle, a white sedan to the back of the ego vehicle, and a person wearing a yellow shirt to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,615.5,465.8>, <c2,CAM_BACK,873.3,554.2>, and <c3,CAM_BACK_RIGHT,90.8,600.0>."
            }
        ]
    },
    {
        "id": "c6d1085c40614693a046dae3168bdb35_e7437558e1594d58871c54b11205bf51_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193188862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193188854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193188870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193188887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193188897453.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193188877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,615.5,465.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c6d1085c40614693a046dae3168bdb35_e7437558e1594d58871c54b11205bf51_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193188862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193188854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193188870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193188887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193188897453.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193188877893.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 <c1,CAM_FRONT_RIGHT,615.5,465.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_BACK,873.3,554.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK_RIGHT,90.8,600.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "c6d1085c40614693a046dae3168bdb35_e7437558e1594d58871c54b11205bf51_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193188862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193188854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193188870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193188887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193188897453.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193188877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,615.5,465.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c6d1085c40614693a046dae3168bdb35_e7437558e1594d58871c54b11205bf51_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193188862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193188854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193188870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193188887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193188897453.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193188877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,615.5,465.8>? 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": "c6d1085c40614693a046dae3168bdb35_e7437558e1594d58871c54b11205bf51_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193188862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193188854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193188870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193188887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193188897453.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193188877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,615.5,465.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "c6d1085c40614693a046dae3168bdb35_e7437558e1594d58871c54b11205bf51_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193188862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193188854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193188870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193188887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193188897453.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193188877893.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": "c6d1085c40614693a046dae3168bdb35_e7437558e1594d58871c54b11205bf51_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193188862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193188854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193188870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193188887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193188897453.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193188877893.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": "24d0c3ea8a2049468201c055667d6bc3_553535fc45154ecb8103eb6d0429c8d6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800746362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800746354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800746370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800746387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800746397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800746377893.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 unknown to the back right of the ego vehicle, a silver sedan to the front of the ego vehicle, and a unknown to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,485.8,477.5>, <c2,CAM_FRONT,1269.2,570.8>, and <c3,CAM_FRONT,1256.7,452.5>."
            }
        ]
    },
    {
        "id": "24d0c3ea8a2049468201c055667d6bc3_553535fc45154ecb8103eb6d0429c8d6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800746362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800746354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800746370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800746387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800746397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800746377893.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": "The ego vehicle should first notice <c2,CAM_FRONT,1269.2,570.8>, which is in a stationary state. Therefore, the ego vehicle should maintain speed and continue forward. Next, the ego vehicle should notice <c3,CAM_FRONT,1256.7,452.5>, which is in an unknown state. Therefore, the ego vehicle should maintain speed and continue forward. Lastly, the ego vehicle should notice <c1,CAM_BACK_RIGHT,485.8,477.5>, which is in an unknown state. Therefore, the ego vehicle should maintain speed and continue forward."
            }
        ]
    },
    {
        "id": "24d0c3ea8a2049468201c055667d6bc3_553535fc45154ecb8103eb6d0429c8d6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800746362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800746354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800746370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800746387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800746397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800746377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,485.8,477.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "24d0c3ea8a2049468201c055667d6bc3_553535fc45154ecb8103eb6d0429c8d6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800746362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800746354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800746370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800746387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800746397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800746377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_FRONT,1269.2,570.8>? 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": "24d0c3ea8a2049468201c055667d6bc3_553535fc45154ecb8103eb6d0429c8d6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800746362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800746354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800746370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800746387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800746397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800746377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,1269.2,570.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "24d0c3ea8a2049468201c055667d6bc3_553535fc45154ecb8103eb6d0429c8d6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800746362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800746354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800746370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800746387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800746397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800746377893.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": "24d0c3ea8a2049468201c055667d6bc3_553535fc45154ecb8103eb6d0429c8d6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800746362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800746354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800746370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800746387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800746397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800746377893.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": "24d0c3ea8a2049468201c055667d6bc3_460528e658d549b68540b4ca9528973b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800731912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800731904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800731920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800731937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800731947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800731927893.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 front left of the ego vehicle, a white sedan to the back of the ego vehicle, and a pedestrian wearing a black top to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,815.8,725.8>, <c2,CAM_BACK,982.7,531.7>, and <c3,CAM_FRONT,368.3,617.5>."
            }
        ]
    },
    {
        "id": "24d0c3ea8a2049468201c055667d6bc3_460528e658d549b68540b4ca9528973b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800731912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800731904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800731920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800731937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800731947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800731927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,368.3,617.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "24d0c3ea8a2049468201c055667d6bc3_460528e658d549b68540b4ca9528973b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800731912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800731904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800731920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800731937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800731947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800731927893.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 <c1,CAM_FRONT_LEFT,815.8,725.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,368.3,617.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,982.7,531.7>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "24d0c3ea8a2049468201c055667d6bc3_460528e658d549b68540b4ca9528973b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800731912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800731904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800731920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800731937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800731947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800731927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,815.8,725.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "24d0c3ea8a2049468201c055667d6bc3_460528e658d549b68540b4ca9528973b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800731912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800731904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800731920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800731937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800731947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800731927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,815.8,725.8>? 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": "24d0c3ea8a2049468201c055667d6bc3_460528e658d549b68540b4ca9528973b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800731912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800731904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800731920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800731937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800731947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800731927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,815.8,725.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "24d0c3ea8a2049468201c055667d6bc3_460528e658d549b68540b4ca9528973b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800731912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800731904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800731920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800731937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800731947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800731927893.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": "24d0c3ea8a2049468201c055667d6bc3_460528e658d549b68540b4ca9528973b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800731912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800731904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800731920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800731937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800731947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800731927893.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": "a5d7cc4bf3404cccb89932d94ccb9da6_db28b78ad54d4ec1a5959e285a0a726c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153481762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153481754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153481770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153481787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153481797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153481778113.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 bus to the back of the ego vehicle, a white bus to the front left of the ego vehicle, a black motorcycle 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 <c1,CAM_BACK,1392.2,484.2>, <c2,CAM_FRONT_LEFT,913.4,467.9>, <c3,CAM_FRONT_RIGHT,176.7,497.5>, and <c4,CAM_FRONT,1027.2,476.0>."
            }
        ]
    },
    {
        "id": "a5d7cc4bf3404cccb89932d94ccb9da6_db28b78ad54d4ec1a5959e285a0a726c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153481762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153481754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153481770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153481787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153481797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153481778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1392.2,484.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a5d7cc4bf3404cccb89932d94ccb9da6_db28b78ad54d4ec1a5959e285a0a726c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153481762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153481754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153481770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153481787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153481797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153481778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1392.2,484.2>? 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": "a5d7cc4bf3404cccb89932d94ccb9da6_db28b78ad54d4ec1a5959e285a0a726c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153481762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153481754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153481770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153481787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153481797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153481778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1392.2,484.2>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "a5d7cc4bf3404cccb89932d94ccb9da6_db28b78ad54d4ec1a5959e285a0a726c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153481762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153481754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153481770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153481787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153481797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153481778113.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": "a5d7cc4bf3404cccb89932d94ccb9da6_db28b78ad54d4ec1a5959e285a0a726c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153481762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153481754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153481770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153481787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153481797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153481778113.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": "a5d7cc4bf3404cccb89932d94ccb9da6_2d333672e0f14c9885e27a8d59fcf30c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153494662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153494654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153494670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153494687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153494697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153494678113.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 white sedan to the back of the ego vehicle, a yellow and white truck to the back of the ego vehicle, a white truck to the front left of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1210.0,527.5>, <c2,CAM_BACK,865.8,491.7>, <c3,CAM_BACK,785.8,476.7>, <c4,CAM_FRONT_LEFT,642.5,451.7>, and <c5,CAM_FRONT,800.8,485.8>."
            }
        ]
    },
    {
        "id": "a5d7cc4bf3404cccb89932d94ccb9da6_2d333672e0f14c9885e27a8d59fcf30c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153494662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153494654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153494670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153494687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153494697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153494678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1210.0,527.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "a5d7cc4bf3404cccb89932d94ccb9da6_2d333672e0f14c9885e27a8d59fcf30c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153494662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153494654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153494670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153494687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153494697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153494678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1210.0,527.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a5d7cc4bf3404cccb89932d94ccb9da6_2d333672e0f14c9885e27a8d59fcf30c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153494662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153494654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153494670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153494687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153494697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153494678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1210.0,527.5>? 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": "a5d7cc4bf3404cccb89932d94ccb9da6_2d333672e0f14c9885e27a8d59fcf30c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153494662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153494654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153494670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153494687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153494697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153494678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,865.8,491.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "a5d7cc4bf3404cccb89932d94ccb9da6_2d333672e0f14c9885e27a8d59fcf30c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153494662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153494654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153494670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153494687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153494697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153494678113.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "a5d7cc4bf3404cccb89932d94ccb9da6_2d333672e0f14c9885e27a8d59fcf30c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153494662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153494654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153494670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153494687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153494697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153494678113.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": "befb96098dc14988ac468a6bd3cbd4a0_3eaa67e95a294ade992d7403b8d7ef08_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478890162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478890154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478890170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478890187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478890197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478890178113.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 right of the ego vehicle, a gray sedan to the front right of the ego vehicle, and a green electric car to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,444.2,555.0>, <c2,CAM_FRONT_RIGHT,1296.1,519.6>, and <c3,CAM_BACK_RIGHT,971.7,615.0>."
            }
        ]
    },
    {
        "id": "befb96098dc14988ac468a6bd3cbd4a0_3eaa67e95a294ade992d7403b8d7ef08_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478890162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478890154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478890170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478890187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478890197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478890178113.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 <c1,CAM_FRONT_RIGHT,444.2,555.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT_RIGHT,1296.1,519.6>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK_RIGHT,971.7,615.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "befb96098dc14988ac468a6bd3cbd4a0_3eaa67e95a294ade992d7403b8d7ef08_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478890162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478890154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478890170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478890187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478890197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478890178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,444.2,555.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "befb96098dc14988ac468a6bd3cbd4a0_3eaa67e95a294ade992d7403b8d7ef08_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478890162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478890154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478890170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478890187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478890197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478890178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,444.2,555.0>? 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": "befb96098dc14988ac468a6bd3cbd4a0_3eaa67e95a294ade992d7403b8d7ef08_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478890162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478890154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478890170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478890187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478890197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478890178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,444.2,555.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "befb96098dc14988ac468a6bd3cbd4a0_3eaa67e95a294ade992d7403b8d7ef08_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478890162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478890154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478890170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478890187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478890197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478890178113.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": "befb96098dc14988ac468a6bd3cbd4a0_3eaa67e95a294ade992d7403b8d7ef08_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478890162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478890154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478890170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478890187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478890197414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478890178113.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": "befb96098dc14988ac468a6bd3cbd4a0_df4aac083c0e475da9902e30e80d34c1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478882162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478882154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478882170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478882187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478882197419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478882178113.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 right of the ego vehicle, a black sedan to the back of the ego vehicle, and a gray sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,799.2,596.7>, <c2,CAM_BACK,809.2,516.7>, and <c3,CAM_BACK_RIGHT,338.3,669.2>."
            }
        ]
    },
    {
        "id": "befb96098dc14988ac468a6bd3cbd4a0_df4aac083c0e475da9902e30e80d34c1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478882162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478882154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478882170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478882187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478882197419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478882178113.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 <c1,CAM_FRONT_RIGHT,799.2,596.7>. The object is stationary, so the ego vehicle should turn right. Secondly, notice that <c3,CAM_BACK_RIGHT,338.3,669.2>. The object is stationary, so the ego vehicle should turn right. Thirdly, notice that <c2,CAM_BACK,809.2,516.7>. The object is stationary, so the ego vehicle should turn right."
            }
        ]
    },
    {
        "id": "befb96098dc14988ac468a6bd3cbd4a0_df4aac083c0e475da9902e30e80d34c1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478882162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478882154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478882170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478882187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478882197419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478882178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,799.2,596.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "befb96098dc14988ac468a6bd3cbd4a0_df4aac083c0e475da9902e30e80d34c1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478882162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478882154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478882170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478882187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478882197419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478882178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,799.2,596.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "befb96098dc14988ac468a6bd3cbd4a0_df4aac083c0e475da9902e30e80d34c1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478882162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478882154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478882170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478882187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478882197419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478882178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,799.2,596.7>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "befb96098dc14988ac468a6bd3cbd4a0_df4aac083c0e475da9902e30e80d34c1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478882162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478882154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478882170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478882187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478882197419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478882178113.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, keep going at the same speed, decelerate gradually without braking, and <take> safe actions for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "befb96098dc14988ac468a6bd3cbd4a0_df4aac083c0e475da9902e30e80d34c1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478882162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478882154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478882170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478882187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478882197419.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478882178113.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 fast."
            }
        ]
    },
    {
        "id": "69ee276c40644ddbb7fe21c613cd7689_16e5d042a57b4c3bb1f9e75bb328351d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487897662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487897654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487897670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487897687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487897697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487897678113.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-clothed pedestrian to the front of the ego vehicle, a red truck to the back of the ego vehicle, a gray SUV to the back of the ego vehicle, and a black sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,709.2,512.5>, <c2,CAM_FRONT,1443.3,508.3>, <c3,CAM_BACK,1060.8,505.8>, <c4,CAM_BACK,859.2,510.8>, and <c5,CAM_FRONT_LEFT,1270.0,642.3>."
            }
        ]
    },
    {
        "id": "69ee276c40644ddbb7fe21c613cd7689_16e5d042a57b4c3bb1f9e75bb328351d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487897662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487897654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487897670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487897687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487897697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487897678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,709.2,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "69ee276c40644ddbb7fe21c613cd7689_16e5d042a57b4c3bb1f9e75bb328351d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487897662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487897654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487897670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487897687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487897697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487897678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,709.2,512.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "69ee276c40644ddbb7fe21c613cd7689_16e5d042a57b4c3bb1f9e75bb328351d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487897662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487897654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487897670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487897687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487897697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487897678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,709.2,512.5>? 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": "69ee276c40644ddbb7fe21c613cd7689_16e5d042a57b4c3bb1f9e75bb328351d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487897662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487897654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487897670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487897687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487897697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487897678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,709.2,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight can lead to a collision with <c1,CAM_FRONT,709.2,512.5>."
            }
        ]
    },
    {
        "id": "69ee276c40644ddbb7fe21c613cd7689_16e5d042a57b4c3bb1f9e75bb328351d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487897662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487897654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487897670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487897687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487897697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487897678113.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": "69ee276c40644ddbb7fe21c613cd7689_16e5d042a57b4c3bb1f9e75bb328351d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487897662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487897654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487897670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487897687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487897697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487897678113.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": "8758419c03ab47a59ea6d6620176f3a3_39dd189d44664d2bba4dccab40ce3fb9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401766912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401766904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401766920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401766937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401766947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401766927893.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 man wearing black pants to the back right of the ego vehicle, a white commercial vehicle to the front right of the ego vehicle, a white truck to the front left of the ego vehicle, and a white business to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1267.5,408.3>, <c2,CAM_FRONT_RIGHT,1400.8,363.3>, <c4,CAM_FRONT_LEFT,1499.3,465.7>, and <c3,CAM_BACK_RIGHT,62.5,397.5>."
            }
        ]
    },
    {
        "id": "8758419c03ab47a59ea6d6620176f3a3_39dd189d44664d2bba4dccab40ce3fb9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401766912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401766904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401766920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401766937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401766947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401766927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,1267.5,408.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8758419c03ab47a59ea6d6620176f3a3_39dd189d44664d2bba4dccab40ce3fb9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401766912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401766904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401766920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401766937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401766947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401766927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1267.5,408.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8758419c03ab47a59ea6d6620176f3a3_39dd189d44664d2bba4dccab40ce3fb9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401766912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401766904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401766920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401766937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401766947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401766927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1267.5,408.3>? 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": "8758419c03ab47a59ea6d6620176f3a3_39dd189d44664d2bba4dccab40ce3fb9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401766912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401766904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401766920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401766937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401766947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401766927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,1267.5,408.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "8758419c03ab47a59ea6d6620176f3a3_39dd189d44664d2bba4dccab40ce3fb9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401766912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401766904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401766920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401766937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401766947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401766927893.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, slightly offset to the left, or slightly offset to the right."
            }
        ]
    },
    {
        "id": "8758419c03ab47a59ea6d6620176f3a3_39dd189d44664d2bba4dccab40ce3fb9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401766912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401766904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401766920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401766937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401766947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401766927893.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": "8758419c03ab47a59ea6d6620176f3a3_0ca68b053a8b4a2c8d3e0393262ee49d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401773412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401773404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401773420350.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401773437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401773447443.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401773427893.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 left of the ego vehicle, a red bicycle to the front left of the ego vehicle, and a person riding a yellow bicycle to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,91.4,448.3>, <c2,CAM_FRONT_LEFT,781.7,526.7>, and <c3,CAM_BACK,133.6,639.8>."
            }
        ]
    },
    {
        "id": "8758419c03ab47a59ea6d6620176f3a3_0ca68b053a8b4a2c8d3e0393262ee49d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401773412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401773404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401773420350.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401773437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401773447443.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401773427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,133.6,639.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8758419c03ab47a59ea6d6620176f3a3_0ca68b053a8b4a2c8d3e0393262ee49d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401773412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401773404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401773420350.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401773437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401773447443.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401773427893.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": "First, notice <c3,CAM_BACK,133.6,639.8>, which is in a forward state, so the ego vehicle should take the action of driving at a constant speed. Second, notice <c2,CAM_FRONT_LEFT,781.7,526.7>, which is in a stationary state, so the ego vehicle should take the action of driving at a constant speed. Finally, notice <c1,CAM_FRONT_LEFT,91.4,448.3>, which is in a stationary state, so the ego vehicle should take the action of driving at a constant speed."
            }
        ]
    },
    {
        "id": "8758419c03ab47a59ea6d6620176f3a3_0ca68b053a8b4a2c8d3e0393262ee49d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401773412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401773404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401773420350.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401773437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401773447443.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401773427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,91.4,448.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8758419c03ab47a59ea6d6620176f3a3_0ca68b053a8b4a2c8d3e0393262ee49d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401773412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401773404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401773420350.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401773437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401773447443.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401773427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,91.4,448.3>? 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": "8758419c03ab47a59ea6d6620176f3a3_0ca68b053a8b4a2c8d3e0393262ee49d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401773412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401773404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401773420350.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401773437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401773447443.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401773427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_BACK,133.6,639.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "8758419c03ab47a59ea6d6620176f3a3_0ca68b053a8b4a2c8d3e0393262ee49d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401773412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401773404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401773420350.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401773437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401773447443.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401773427893.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, brake suddenly, brake gently to a stop, decelerate gradually without braking, or back up."
            }
        ]
    },
    {
        "id": "8758419c03ab47a59ea6d6620176f3a3_0ca68b053a8b4a2c8d3e0393262ee49d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401773412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401773404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401773420350.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401773437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401773447443.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401773427893.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 very fast."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_debf458e7dda415aba2fb3e0c2fb2b37_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867408928113.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 business car to the back of the ego vehicle, a black jeep to the front of the ego vehicle, a yellow van to the front of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,850.8,516.7>, <c2,CAM_FRONT,908.3,495.0>, <c3,CAM_FRONT,271.8,539.2>, and <c4,CAM_FRONT,842.5,539.2>."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_debf458e7dda415aba2fb3e0c2fb2b37_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867408928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,850.8,516.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_debf458e7dda415aba2fb3e0c2fb2b37_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867408928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,850.8,516.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_debf458e7dda415aba2fb3e0c2fb2b37_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867408928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,850.8,516.7>? 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. The probability is high."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_debf458e7dda415aba2fb3e0c2fb2b37_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867408928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,850.8,516.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_debf458e7dda415aba2fb3e0c2fb2b37_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867408928113.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."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_debf458e7dda415aba2fb3e0c2fb2b37_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867408912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867408904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867408920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867408937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867408947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867408928113.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": "75ebb308bea04317adbc25554d5cd7f5_9dbae6221a8b475dbcc9f8e9446a727f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867404412414.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867404404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867404420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867404437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867404447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867404428113.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 black 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 <c1,CAM_BACK,835.8,524.2>, <c2,CAM_FRONT,886.7,490.0>, and <c3,CAM_FRONT,836.7,502.5>."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_9dbae6221a8b475dbcc9f8e9446a727f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867404412414.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867404404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867404420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867404437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867404447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867404428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,835.8,524.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_9dbae6221a8b475dbcc9f8e9446a727f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867404412414.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867404404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867404420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867404437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867404447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867404428113.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 <c3,CAM_FRONT,836.7,502.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c2,CAM_FRONT,886.7,490.0>. The object is going ahead, so the ego vehicle should slow down and go ahead. Thirdly notice that <c1,CAM_BACK,835.8,524.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_9dbae6221a8b475dbcc9f8e9446a727f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867404412414.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867404404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867404420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867404437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867404447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867404428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,835.8,524.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_9dbae6221a8b475dbcc9f8e9446a727f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867404412414.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867404404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867404420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867404437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867404447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867404428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,835.8,524.2>? 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 probability."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_9dbae6221a8b475dbcc9f8e9446a727f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867404412414.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867404404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867404420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867404437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867404447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867404428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,835.8,524.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_9dbae6221a8b475dbcc9f8e9446a727f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867404412414.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867404404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867404420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867404437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867404447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867404428113.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, decelerating gradually without braking."
            }
        ]
    },
    {
        "id": "75ebb308bea04317adbc25554d5cd7f5_9dbae6221a8b475dbcc9f8e9446a727f_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867404412414.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867404404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867404420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867404437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867404447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867404428113.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": "eba4b7c19b5f48289e105937d03e5222_bc94c18b7abf453d9ae39af6ab2a8636_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281270412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281270404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281270420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281270437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281270447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281270427893.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 in a gray shirt to the front right of the ego vehicle, a pedestrian wearing a black top to the back of the ego vehicle, a white truck to the front right of the ego vehicle, and a blue truck to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,313.3,582.5>, <c2,CAM_BACK,503.3,563.3>, <c3,CAM_FRONT_RIGHT,639.2,597.5>, and <c4,CAM_BACK_RIGHT,840.0,606.7>."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_bc94c18b7abf453d9ae39af6ab2a8636_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281270412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281270404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281270420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281270437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281270447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281270427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,313.3,582.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_bc94c18b7abf453d9ae39af6ab2a8636_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281270412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281270404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281270420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281270437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281270447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281270427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,313.3,582.5>? 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": "eba4b7c19b5f48289e105937d03e5222_bc94c18b7abf453d9ae39af6ab2a8636_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281270412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281270404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281270420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281270437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281270447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281270427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,313.3,582.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_bc94c18b7abf453d9ae39af6ab2a8636_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281270412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281270404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281270420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281270437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281270447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281270427893.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": "eba4b7c19b5f48289e105937d03e5222_bc94c18b7abf453d9ae39af6ab2a8636_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281270412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281270404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281270420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281270437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281270447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281270427893.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": "eba4b7c19b5f48289e105937d03e5222_797c00f623e74a2a86207b89359e0f48_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281286437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281286428464.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 white shoes to the front left of the ego vehicle, a black car to the back of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,797.5,492.5>, <c2,CAM_BACK,580.0,520.8>, and <c3,CAM_FRONT,585.0,480.8>."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_797c00f623e74a2a86207b89359e0f48_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281286437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281286428464.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,797.5,492.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_797c00f623e74a2a86207b89359e0f48_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281286437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281286428464.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 <c3,CAM_FRONT,585.0,480.8>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_FRONT_LEFT,797.5,492.5>. It is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_BACK,580.0,520.8>. It is also going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_797c00f623e74a2a86207b89359e0f48_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281286437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281286428464.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,797.5,492.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_797c00f623e74a2a86207b89359e0f48_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281286437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281286428464.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,797.5,492.5>? 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": "eba4b7c19b5f48289e105937d03e5222_797c00f623e74a2a86207b89359e0f48_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281286437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281286428464.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,580.0,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_797c00f623e74a2a86207b89359e0f48_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281286437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281286428464.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, keep going at the same speed, turn right, slightly offset to the right, or slightly offset to the left."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_797c00f623e74a2a86207b89359e0f48_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281286412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281286404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281286420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281286437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281286447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281286428464.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 slowly."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_82034422226544ad872f3b5083975fb7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281284412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281284404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281284420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281284437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281284447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281284427893.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 gray clothes to the front of the ego vehicle, a yellow bicycle to the front left of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,173.3,493.3>, <c2,CAM_FRONT_LEFT,956.7,607.5>, and <c3,CAM_FRONT,1030.0,480.0>."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_82034422226544ad872f3b5083975fb7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281284412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281284404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281284420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281284437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281284447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281284427893.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 <c2,CAM_FRONT_LEFT,956.7,607.5>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,173.3,493.3>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,1030.0,480.0>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_82034422226544ad872f3b5083975fb7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281284412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281284404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281284420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281284437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281284447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281284427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,173.3,493.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_82034422226544ad872f3b5083975fb7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281284412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281284404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281284420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281284437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281284447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281284427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,173.3,493.3>? 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": "eba4b7c19b5f48289e105937d03e5222_82034422226544ad872f3b5083975fb7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281284412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281284404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281284420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281284437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281284447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281284427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,173.3,493.3>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT,173.3,493.3>."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_82034422226544ad872f3b5083975fb7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281284412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281284404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281284420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281284437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281284447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281284427893.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, decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "eba4b7c19b5f48289e105937d03e5222_82034422226544ad872f3b5083975fb7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281284412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281284404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281284420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281284437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281284447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281284427893.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 with normal speed."
            }
        ]
    },
    {
        "id": "7ad327c8827849ed91136bb2d04acec9_d0e3e576859c4b519bc72cd8a556364e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708011362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708011354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708011370525.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708011387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708011397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708011378113.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 construction vehicle to the front right of the ego vehicle, a black commercial vehicle to the back of the ego vehicle, a black sedan to the front of the ego vehicle, and a please wait to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,655.0,453.8>, <c2,CAM_BACK,828.3,612.5>, <c3,CAM_FRONT,347.8,526.8>, and <c4,CAM_FRONT,884.1,342.8>."
            }
        ]
    },
    {
        "id": "7ad327c8827849ed91136bb2d04acec9_d0e3e576859c4b519bc72cd8a556364e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708011362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708011354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708011370525.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708011387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708011397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708011378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,655.0,453.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7ad327c8827849ed91136bb2d04acec9_d0e3e576859c4b519bc72cd8a556364e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708011362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708011354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708011370525.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708011387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708011397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708011378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,655.0,453.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7ad327c8827849ed91136bb2d04acec9_d0e3e576859c4b519bc72cd8a556364e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708011362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708011354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708011370525.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708011387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708011397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708011378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,655.0,453.8>? 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": "7ad327c8827849ed91136bb2d04acec9_d0e3e576859c4b519bc72cd8a556364e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708011362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708011354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708011370525.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708011387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708011397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708011378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,655.0,453.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "7ad327c8827849ed91136bb2d04acec9_d0e3e576859c4b519bc72cd8a556364e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708011362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708011354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708011370525.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708011387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708011397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708011378113.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, turn left, and brake gently to a stop are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "7ad327c8827849ed91136bb2d04acec9_d0e3e576859c4b519bc72cd8a556364e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708011362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708011354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708011370525.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708011387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708011397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708011378113.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": "77b27e26bf6d4c38859ccfa076cee51d_49272e85c5b646069f98c031c8864fcc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658960012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658960004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658960020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658960037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658960047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658960028113.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 blue sedan to the back of the ego vehicle, and a gray sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,27.2,650.2>, <c2,CAM_BACK,836.7,545.8>, and <c3,CAM_FRONT_RIGHT,991.8,666.7>."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_49272e85c5b646069f98c031c8864fcc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658960012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658960004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658960020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658960037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658960047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658960028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,836.7,545.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_49272e85c5b646069f98c031c8864fcc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658960012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658960004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658960020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658960037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658960047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658960028113.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 <c1,CAM_FRONT_RIGHT,27.2,650.2>; the object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_FRONT_RIGHT,991.8,666.7>; the object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK,836.7,545.8>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_49272e85c5b646069f98c031c8864fcc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658960012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658960004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658960020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658960037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658960047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658960028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,27.2,650.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_49272e85c5b646069f98c031c8864fcc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658960012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658960004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658960020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658960037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658960047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658960028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,27.2,650.2>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_49272e85c5b646069f98c031c8864fcc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658960012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658960004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658960020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658960037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658960047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658960028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,27.2,650.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_49272e85c5b646069f98c031c8864fcc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658960012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658960004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658960020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658960037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658960047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658960028113.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": "77b27e26bf6d4c38859ccfa076cee51d_49272e85c5b646069f98c031c8864fcc_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658960012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658960004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658960020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658960037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658960047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658960028113.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": "77b27e26bf6d4c38859ccfa076cee51d_610105b8545640a7bd85b0ca702552ef_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658958012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658958004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658958020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658958037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658958047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658958028113.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 SUV to the front right of the ego vehicle, and a gray sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,869.2,550.0>, <c2,CAM_FRONT_RIGHT,938.3,610.0>, and <c3,CAM_FRONT_RIGHT,73.3,681.7>."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_610105b8545640a7bd85b0ca702552ef_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658958012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658958004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658958020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658958037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658958047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658958028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,869.2,550.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_610105b8545640a7bd85b0ca702552ef_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658958012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658958004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658958020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658958037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658958047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658958028113.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 <c2,CAM_FRONT_RIGHT,938.3,610.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_RIGHT,73.3,681.7>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,869.2,550.0>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_610105b8545640a7bd85b0ca702552ef_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658958012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658958004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658958020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658958037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658958047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658958028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,869.2,550.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_610105b8545640a7bd85b0ca702552ef_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658958012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658958004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658958020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658958037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658958047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658958028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,869.2,550.0>? 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, high."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_610105b8545640a7bd85b0ca702552ef_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658958012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658958004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658958020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658958037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658958047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658958028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,869.2,550.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_610105b8545640a7bd85b0ca702552ef_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658958012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658958004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658958020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658958037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658958047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658958028113.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": "77b27e26bf6d4c38859ccfa076cee51d_610105b8545640a7bd85b0ca702552ef_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658958012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658958004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658958020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658958037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658958047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658958028113.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": "77b27e26bf6d4c38859ccfa076cee51d_e707c78ba9e146a0b838027b6c28dfa0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658946862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658946854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658946870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658946887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658946897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658946878113.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 truck to the back of the ego vehicle, a black sedan to the back of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,698.3,491.7>, <c2,CAM_BACK,892.5,500.8>, and <c3,CAM_FRONT,1175.0,535.8>."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_e707c78ba9e146a0b838027b6c28dfa0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658946862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658946854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658946870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658946887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658946897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658946878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,892.5,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_e707c78ba9e146a0b838027b6c28dfa0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658946862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658946854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658946870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658946887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658946897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658946878113.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 <c3,CAM_FRONT,1175.0,535.8>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice <c2,CAM_BACK,892.5,500.8>, it is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice <c1,CAM_BACK,698.3,491.7>, it is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_e707c78ba9e146a0b838027b6c28dfa0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658946862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658946854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658946870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658946887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658946897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658946878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,698.3,491.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_e707c78ba9e146a0b838027b6c28dfa0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658946862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658946854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658946870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658946887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658946897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658946878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,698.3,491.7>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_e707c78ba9e146a0b838027b6c28dfa0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658946862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658946854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658946870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658946887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658946897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658946878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,698.3,491.7>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,698.3,491.7>."
            }
        ]
    },
    {
        "id": "77b27e26bf6d4c38859ccfa076cee51d_e707c78ba9e146a0b838027b6c28dfa0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658946862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658946854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658946870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658946887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658946897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658946878113.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": "77b27e26bf6d4c38859ccfa076cee51d_e707c78ba9e146a0b838027b6c28dfa0_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658946862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658946854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658946870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658946887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658946897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658946878113.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": "d0b2d916178a402a842c88f394d7d7e8_a81d7771e49f42018c54b73b650e8cf3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115031412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115031404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115031420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115031437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115031447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115031427893.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 riding a motorcycle to the front right of the ego vehicle, a black sedan to the back of the ego vehicle, a no entry to the back left of the ego vehicle, and a go straight and turn left to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,355.8,535.8>, <c2,CAM_BACK,956.7,547.5>, <c3,CAM_BACK_LEFT,1134.4,469.0>, and <c4,CAM_FRONT_RIGHT,814.3,597.2>."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_a81d7771e49f42018c54b73b650e8cf3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115031412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115031404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115031420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115031437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115031447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115031427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,355.8,535.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_a81d7771e49f42018c54b73b650e8cf3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115031412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115031404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115031420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115031437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115031447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115031427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,355.8,535.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_a81d7771e49f42018c54b73b650e8cf3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115031412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115031404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115031420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115031437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115031447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115031427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,355.8,535.8>? 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": "d0b2d916178a402a842c88f394d7d7e8_a81d7771e49f42018c54b73b650e8cf3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115031412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115031404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115031420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115031437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115031447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115031427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,355.8,535.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_a81d7771e49f42018c54b73b650e8cf3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115031412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115031404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115031420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115031437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115031447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115031427893.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 suddenly, brake gently to a stop, decelerate gradually without braking, slightly offset to the right, change to the right lane, turn left, or turn right."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_a81d7771e49f42018c54b73b650e8cf3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115031412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115031404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115031420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115031437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115031447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115031427893.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": "d0b2d916178a402a842c88f394d7d7e8_8ef3169aefcd4566b9548120d2f2843b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115030012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115030004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115030020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115030037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115030047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115030027893.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 motorcycle to the front left of the ego vehicle, a black sedan to the back of the ego vehicle, a signboard to the back left of the ego vehicle, and a white arrow to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1279.2,545.0>, <c2,CAM_BACK,956.7,547.5>, <c3,CAM_BACK_LEFT,1135.0,463.6>, and <c4,CAM_FRONT_RIGHT,815.1,593.6>."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_8ef3169aefcd4566b9548120d2f2843b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115030012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115030004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115030020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115030037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115030047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115030027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1279.2,545.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_8ef3169aefcd4566b9548120d2f2843b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115030012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115030004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115030020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115030037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115030047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115030027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1279.2,545.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_8ef3169aefcd4566b9548120d2f2843b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115030012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115030004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115030020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115030037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115030047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115030027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1279.2,545.0>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_8ef3169aefcd4566b9548120d2f2843b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115030012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115030004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115030020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115030037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115030047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115030027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1279.2,545.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight actions can lead to a collision with <c1,CAM_FRONT_LEFT,1279.2,545.0>."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_8ef3169aefcd4566b9548120d2f2843b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115030012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115030004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115030020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115030037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115030047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115030027893.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."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_8ef3169aefcd4566b9548120d2f2843b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115030012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115030004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115030020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115030037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115030047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115030027893.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": "d0b2d916178a402a842c88f394d7d7e8_13dc8c0238c345df9f04de8959e3420e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115027912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115027904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115027920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115027937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115027947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115027927893.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 an electric bike to the front left of the ego vehicle, a black sedan car to the back of the ego vehicle, a no entry sign to the back left of the ego vehicle, and a straight and right turn white arrow to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,251.7,512.5>, <c2,CAM_BACK,956.7,546.7>, <c3,CAM_BACK_LEFT,1137.0,471.3>, and <c4,CAM_FRONT_RIGHT,812.9,595.7>."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_13dc8c0238c345df9f04de8959e3420e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115027912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115027904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115027920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115027937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115027947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115027927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,251.7,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_13dc8c0238c345df9f04de8959e3420e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115027912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115027904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115027920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115027937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115027947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115027927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,251.7,512.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_13dc8c0238c345df9f04de8959e3420e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115027912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115027904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115027920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115027937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115027947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115027927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,251.7,512.5>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_13dc8c0238c345df9f04de8959e3420e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115027912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115027904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115027920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115027937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115027947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115027927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,251.7,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_13dc8c0238c345df9f04de8959e3420e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115027912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115027904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115027920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115027937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115027947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115027927893.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": "d0b2d916178a402a842c88f394d7d7e8_13dc8c0238c345df9f04de8959e3420e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115027912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115027904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115027920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115027937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115027947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115027927893.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": "d0b2d916178a402a842c88f394d7d7e8_f1999ab870cc478db4a5bba7787564e7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.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 riding a motorcycle to the back left of the ego vehicle, a black sedan to the back of the ego vehicle, a no entry to the back left of the ego vehicle, and a go straight and turn left to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,1279.2,491.7>, <c2,CAM_BACK,960.0,550.8>, <c3,CAM_BACK_LEFT,1184.9,465.2>, and <c4,CAM_FRONT_RIGHT,805.3,593.5>."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_f1999ab870cc478db4a5bba7787564e7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_LEFT,1279.2,491.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_f1999ab870cc478db4a5bba7787564e7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,1279.2,491.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_f1999ab870cc478db4a5bba7787564e7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,1279.2,491.7>? 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": "d0b2d916178a402a842c88f394d7d7e8_f1999ab870cc478db4a5bba7787564e7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,1279.2,491.7>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_f1999ab870cc478db4a5bba7787564e7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.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 suddenly, brake gently to a stop, decelerate gradually without braking, slightly offset to the left, slightly offset to the right, change to the right lane, turn right, turn left, or change to the left lane are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "d0b2d916178a402a842c88f394d7d7e8_f1999ab870cc478db4a5bba7787564e7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.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": "4b5bf3f4668d44fea9a676e9c4a8a79e_bfcb6df9474f4ad98fcf64ff2d1e170c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.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 back of the ego vehicle, a yellow traffic markings to the back of the ego vehicle, and a white road sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,727.5,503.3>, <c2,CAM_BACK,703.4,575.8>, and <c3,CAM_FRONT,1209.5,577.0>."
            }
        ]
    },
    {
        "id": "4b5bf3f4668d44fea9a676e9c4a8a79e_bfcb6df9474f4ad98fcf64ff2d1e170c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,727.5,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4b5bf3f4668d44fea9a676e9c4a8a79e_bfcb6df9474f4ad98fcf64ff2d1e170c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.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 <c3,CAM_FRONT,1209.5,577.0>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c2,CAM_BACK,703.4,575.8>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_BACK,727.5,503.3>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "4b5bf3f4668d44fea9a676e9c4a8a79e_bfcb6df9474f4ad98fcf64ff2d1e170c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,727.5,503.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4b5bf3f4668d44fea9a676e9c4a8a79e_bfcb6df9474f4ad98fcf64ff2d1e170c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,727.5,503.3>? 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": "4b5bf3f4668d44fea9a676e9c4a8a79e_bfcb6df9474f4ad98fcf64ff2d1e170c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,727.5,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "4b5bf3f4668d44fea9a676e9c4a8a79e_bfcb6df9474f4ad98fcf64ff2d1e170c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.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": "4b5bf3f4668d44fea9a676e9c4a8a79e_bfcb6df9474f4ad98fcf64ff2d1e170c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.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": "4b5bf3f4668d44fea9a676e9c4a8a79e_89fdea237a644a7bab93a9a9acb31a0d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034000262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034000254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034000270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034000287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034000297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034000277893.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 white pickup truck to the back of the ego vehicle, and a slow down to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1180.8,597.5>, <c2,CAM_BACK,750.0,516.7>, and <c3,CAM_FRONT,1099.1,778.8>."
            }
        ]
    },
    {
        "id": "4b5bf3f4668d44fea9a676e9c4a8a79e_89fdea237a644a7bab93a9a9acb31a0d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034000262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034000254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034000270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034000287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034000297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034000277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1180.8,597.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4b5bf3f4668d44fea9a676e9c4a8a79e_89fdea237a644a7bab93a9a9acb31a0d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034000262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034000254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034000270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034000287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034000297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034000277893.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 <c3,CAM_FRONT,1099.1,778.8>. The object is a traffic sign, so the ego vehicle should slow down and proceed. Secondly, notice <c1,CAM_BACK,1180.8,597.5>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c2,CAM_BACK,750.0,516.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "4b5bf3f4668d44fea9a676e9c4a8a79e_89fdea237a644a7bab93a9a9acb31a0d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034000262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034000254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034000270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034000287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034000297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034000277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1180.8,597.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4b5bf3f4668d44fea9a676e9c4a8a79e_89fdea237a644a7bab93a9a9acb31a0d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034000262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034000254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034000270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034000287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034000297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034000277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1180.8,597.5>? 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": "4b5bf3f4668d44fea9a676e9c4a8a79e_89fdea237a644a7bab93a9a9acb31a0d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034000262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034000254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034000270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034000287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034000297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034000277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1180.8,597.5>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane or braking suddenly can lead to a collision with <c1,CAM_BACK,1180.8,597.5>."
            }
        ]
    },
    {
        "id": "4b5bf3f4668d44fea9a676e9c4a8a79e_89fdea237a644a7bab93a9a9acb31a0d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034000262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034000254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034000270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034000287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034000297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034000277893.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": "4b5bf3f4668d44fea9a676e9c4a8a79e_89fdea237a644a7bab93a9a9acb31a0d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034000262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034000254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034000270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034000287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034000297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034000277893.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 with normal speed."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_821d9fe116384ad694de1cc6aeaada92_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202270762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202270754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202270770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202270787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202270797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202270777893.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 gray sedan to the back right of the ego vehicle, and a black SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1080.0,515.8>, <c2,CAM_BACK_RIGHT,927.5,501.7>, and <c3,CAM_FRONT_LEFT,1193.3,608.3>."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_821d9fe116384ad694de1cc6aeaada92_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202270762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202270754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202270770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202270787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202270797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202270777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1080.0,515.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_821d9fe116384ad694de1cc6aeaada92_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202270762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202270754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202270770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202270787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202270797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202270777893.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 <c3,CAM_FRONT_LEFT,1193.3,608.3>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_BACK,1080.0,515.8>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK_RIGHT,927.5,501.7>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_821d9fe116384ad694de1cc6aeaada92_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202270762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202270754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202270770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202270787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202270797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202270777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1080.0,515.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_821d9fe116384ad694de1cc6aeaada92_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202270762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202270754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202270770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202270787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202270797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202270777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1080.0,515.8>? 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": "566311b8201e416f9f99463656dcadce_821d9fe116384ad694de1cc6aeaada92_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202270762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202270754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202270770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202270787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202270797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202270777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1080.0,515.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_821d9fe116384ad694de1cc6aeaada92_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202270762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202270754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202270770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202270787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202270797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202270777893.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, slightly offset to the left, turn left."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_821d9fe116384ad694de1cc6aeaada92_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202270762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202270754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202270770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202270787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202270797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202270777893.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": "566311b8201e416f9f99463656dcadce_1215ff38637849ab9a5282b5eeb662ab_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202258412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202258404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202258420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202258437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202258447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202258427893.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 white truck 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 <c1,CAM_BACK,325.0,550.8>, <c2,CAM_FRONT_RIGHT,720.8,558.3>, and <c3,CAM_FRONT_LEFT,756.4,433.2>."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_1215ff38637849ab9a5282b5eeb662ab_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202258412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202258404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202258420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202258437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202258447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202258427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,325.0,550.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_1215ff38637849ab9a5282b5eeb662ab_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202258412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202258404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202258420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202258437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202258447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202258427893.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 <c3,CAM_FRONT_LEFT,756.4,433.2>. It is a traffic sign, so the ego vehicle should turn right. Secondly, notice <c2,CAM_FRONT_RIGHT,720.8,558.3>. It is stationary, so the ego vehicle should turn right. Thirdly, notice <c1,CAM_BACK,325.0,550.8>. It is going ahead, so the ego vehicle should turn right."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_1215ff38637849ab9a5282b5eeb662ab_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202258412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202258404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202258420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202258437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202258447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202258427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,325.0,550.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_1215ff38637849ab9a5282b5eeb662ab_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202258412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202258404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202258420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202258437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202258447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202258427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,325.0,550.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is that the object has little reference value for the ego vehicle, and the probability is high."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_1215ff38637849ab9a5282b5eeb662ab_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202258412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202258404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202258420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202258437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202258447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202258427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,325.0,550.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_1215ff38637849ab9a5282b5eeb662ab_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202258412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202258404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202258420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202258437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202258447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202258427893.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": "566311b8201e416f9f99463656dcadce_1215ff38637849ab9a5282b5eeb662ab_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202258412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202258404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202258420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202258437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202258447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202258427893.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 fast."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_41fefd13f9c84db5b4674453ed07f1ed_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202264862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202264854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202264870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202264887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202264897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202264877893.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 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 <c1,CAM_FRONT,28.3,590.8>, <c2,CAM_BACK,808.3,512.5>, and <c3,CAM_FRONT,529.2,526.7>."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_41fefd13f9c84db5b4674453ed07f1ed_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202264862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202264854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202264870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202264887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202264897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202264877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,808.3,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_41fefd13f9c84db5b4674453ed07f1ed_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202264862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202264854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202264870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202264887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202264897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202264877893.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 <c1,CAM_FRONT,28.3,590.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,529.2,526.7>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,808.3,512.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_41fefd13f9c84db5b4674453ed07f1ed_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202264862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202264854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202264870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202264887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202264897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202264877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,28.3,590.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_41fefd13f9c84db5b4674453ed07f1ed_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202264862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202264854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202264870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202264887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202264897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202264877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,28.3,590.8>? 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": "566311b8201e416f9f99463656dcadce_41fefd13f9c84db5b4674453ed07f1ed_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202264862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202264854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202264870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202264887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202264897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202264877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,28.3,590.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "566311b8201e416f9f99463656dcadce_41fefd13f9c84db5b4674453ed07f1ed_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202264862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202264854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202264870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202264887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202264897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202264877893.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": "566311b8201e416f9f99463656dcadce_41fefd13f9c84db5b4674453ed07f1ed_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202264862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202264854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202264870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202264887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202264897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202264877893.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": "e54f4a36a8b94aebbe4189186dee8f05_ca0e674faf554482acf31593de412ead_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286953012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286953004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286953020490.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286953037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286953047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286953028113.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 pickup truck to the front of the ego vehicle, a white sedan car to the back left of the ego vehicle, and a gray SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,330.8,517.5>, <c2,CAM_BACK_LEFT,1077.5,566.7>, and <c3,CAM_FRONT,1170.8,495.0>."
            }
        ]
    },
    {
        "id": "e54f4a36a8b94aebbe4189186dee8f05_ca0e674faf554482acf31593de412ead_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286953012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286953004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286953020490.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286953037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286953047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286953028113.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 <c3,CAM_FRONT,1170.8,495.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,330.8,517.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK_LEFT,1077.5,566.7>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "e54f4a36a8b94aebbe4189186dee8f05_ca0e674faf554482acf31593de412ead_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286953012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286953004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286953020490.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286953037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286953047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286953028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,330.8,517.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e54f4a36a8b94aebbe4189186dee8f05_ca0e674faf554482acf31593de412ead_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286953012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286953004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286953020490.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286953037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286953047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286953028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,330.8,517.5>? 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": "e54f4a36a8b94aebbe4189186dee8f05_ca0e674faf554482acf31593de412ead_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286953012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286953004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286953020490.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286953037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286953047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286953028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,330.8,517.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "e54f4a36a8b94aebbe4189186dee8f05_ca0e674faf554482acf31593de412ead_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286953012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286953004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286953020490.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286953037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286953047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286953028113.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": "e54f4a36a8b94aebbe4189186dee8f05_ca0e674faf554482acf31593de412ead_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286953012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286953004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286953020490.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286953037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286953047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286953028113.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": "e54f4a36a8b94aebbe4189186dee8f05_3e235ec8a26e4d5c91ac9b3175dcada4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286959912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286959904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286959920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286959937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286959947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286959928126.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 with cargo to the front right of the ego vehicle, a white special-shaped car to the back right of the ego vehicle, and a black truck with cargo to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1237.5,336.7>, <c2,CAM_BACK_RIGHT,504.2,332.5>, and <c3,CAM_FRONT_RIGHT,480.0,315.0>."
            }
        ]
    },
    {
        "id": "e54f4a36a8b94aebbe4189186dee8f05_3e235ec8a26e4d5c91ac9b3175dcada4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286959912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286959904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286959920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286959937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286959947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286959928126.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 <c1,CAM_FRONT_RIGHT,1237.5,336.7>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_FRONT_RIGHT,480.0,315.0>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK_RIGHT,504.2,332.5>, it is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "e54f4a36a8b94aebbe4189186dee8f05_3e235ec8a26e4d5c91ac9b3175dcada4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286959912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286959904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286959920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286959937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286959947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286959928126.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1237.5,336.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e54f4a36a8b94aebbe4189186dee8f05_3e235ec8a26e4d5c91ac9b3175dcada4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286959912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286959904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286959920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286959937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286959947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286959928126.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1237.5,336.7>? 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": "e54f4a36a8b94aebbe4189186dee8f05_3e235ec8a26e4d5c91ac9b3175dcada4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286959912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286959904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286959920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286959937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286959947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286959928126.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1237.5,336.7>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "e54f4a36a8b94aebbe4189186dee8f05_3e235ec8a26e4d5c91ac9b3175dcada4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286959912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286959904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286959920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286959937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286959947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286959928126.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."
            }
        ]
    },
    {
        "id": "e54f4a36a8b94aebbe4189186dee8f05_3e235ec8a26e4d5c91ac9b3175dcada4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286959912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286959904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286959920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286959937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286959947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286959928126.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": "e54f4a36a8b94aebbe4189186dee8f05_8603972ba1fe4cb8b89d11d0ed05feb8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286961912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286961904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286961920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286961937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286961947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286961928113.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 back right of the ego vehicle, a black truck to the back right of the ego vehicle, and a black and white bicycle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,146.7,346.7>, <c2,CAM_BACK_RIGHT,871.7,371.9>, and <c3,CAM_FRONT,1229.2,581.7>."
            }
        ]
    },
    {
        "id": "e54f4a36a8b94aebbe4189186dee8f05_8603972ba1fe4cb8b89d11d0ed05feb8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286961912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286961904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286961920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286961937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286961947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286961928113.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 <c3,CAM_FRONT,1229.2,581.7>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c1,CAM_BACK_RIGHT,146.7,346.7>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK_RIGHT,871.7,371.9>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "e54f4a36a8b94aebbe4189186dee8f05_8603972ba1fe4cb8b89d11d0ed05feb8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286961912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286961904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286961920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286961937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286961947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286961928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,146.7,346.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e54f4a36a8b94aebbe4189186dee8f05_8603972ba1fe4cb8b89d11d0ed05feb8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286961912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286961904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286961920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286961937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286961947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286961928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,146.7,346.7>? 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": "e54f4a36a8b94aebbe4189186dee8f05_8603972ba1fe4cb8b89d11d0ed05feb8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286961912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286961904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286961920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286961937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286961947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286961928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT,1229.2,581.7>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "e54f4a36a8b94aebbe4189186dee8f05_8603972ba1fe4cb8b89d11d0ed05feb8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286961912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286961904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286961920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286961937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286961947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286961928113.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": "e54f4a36a8b94aebbe4189186dee8f05_8603972ba1fe4cb8b89d11d0ed05feb8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286961912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286961904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286961920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286961937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286961947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286961928113.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": "1891b66d9f58463399aa242f3b521232_c1c99af601984bd9a08ea9c65e0bc1f4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573262112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573262104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573262120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573262137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573262147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573262128113.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 right of the ego vehicle, a black commercial vehicle to the front of the ego vehicle, a blue sedan to the back of the ego vehicle, a black pickup truck to the front of the ego vehicle, a black car to the front left of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,509.2,633.3>, <c2,CAM_FRONT,422.5,519.2>, <c3,CAM_BACK,861.7,675.0>, <c4,CAM_FRONT,878.3,488.3>, <c5,CAM_FRONT_LEFT,720.8,586.7>, and <c6,CAM_FRONT,734.3,335.9>."
            }
        ]
    },
    {
        "id": "1891b66d9f58463399aa242f3b521232_c1c99af601984bd9a08ea9c65e0bc1f4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573262112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573262104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573262120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573262137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573262147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573262128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,509.2,633.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1891b66d9f58463399aa242f3b521232_c1c99af601984bd9a08ea9c65e0bc1f4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573262112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573262104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573262120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573262137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573262147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573262128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,509.2,633.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1891b66d9f58463399aa242f3b521232_c1c99af601984bd9a08ea9c65e0bc1f4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573262112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573262104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573262120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573262137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573262147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573262128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,509.2,633.3>? 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": "1891b66d9f58463399aa242f3b521232_c1c99af601984bd9a08ea9c65e0bc1f4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573262112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573262104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573262120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573262137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573262147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573262128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,509.2,633.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "1891b66d9f58463399aa242f3b521232_c1c99af601984bd9a08ea9c65e0bc1f4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573262112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573262104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573262120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573262137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573262147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573262128113.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": "1891b66d9f58463399aa242f3b521232_c1c99af601984bd9a08ea9c65e0bc1f4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573262112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573262104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573262120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573262137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573262147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573262128113.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": "105c227c304b4cb18e98a5be6b2d8302_96c72e60237f4f82ba0d837e4ad1e8f5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280146662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280146654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280146670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280146687588.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280146697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280146677893.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 truck to the front right of the ego vehicle, a yellow bicycle to the back left of the ego vehicle, and a person wearing a blue top and black pants to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,91.7,568.3>, <c2,CAM_BACK_LEFT,1246.7,670.8>, and <c3,CAM_FRONT,710.8,504.2>."
            }
        ]
    },
    {
        "id": "105c227c304b4cb18e98a5be6b2d8302_96c72e60237f4f82ba0d837e4ad1e8f5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280146662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280146654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280146670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280146687588.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280146697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280146677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,710.8,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "105c227c304b4cb18e98a5be6b2d8302_96c72e60237f4f82ba0d837e4ad1e8f5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280146662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280146654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280146670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280146687588.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280146697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280146677893.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 <c1,CAM_FRONT_RIGHT,91.7,568.3>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,710.8,504.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK_LEFT,1246.7,670.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "105c227c304b4cb18e98a5be6b2d8302_96c72e60237f4f82ba0d837e4ad1e8f5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280146662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280146654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280146670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280146687588.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280146697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280146677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,91.7,568.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "105c227c304b4cb18e98a5be6b2d8302_96c72e60237f4f82ba0d837e4ad1e8f5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280146662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280146654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280146670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280146687588.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280146697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280146677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,91.7,568.3>? 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": "105c227c304b4cb18e98a5be6b2d8302_96c72e60237f4f82ba0d837e4ad1e8f5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280146662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280146654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280146670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280146687588.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280146697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280146677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,91.7,568.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "105c227c304b4cb18e98a5be6b2d8302_96c72e60237f4f82ba0d837e4ad1e8f5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280146662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280146654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280146670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280146687588.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280146697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280146677893.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; back up."
            }
        ]
    },
    {
        "id": "105c227c304b4cb18e98a5be6b2d8302_96c72e60237f4f82ba0d837e4ad1e8f5_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280146662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280146654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280146670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280146687588.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280146697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280146677893.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": "b0b26c1e5a1140e69598422f12ae1dc0_4a423faa3dc14d5f89f34836c938a776_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153467262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153467254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153467270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153467287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153467297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153467278113.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 red truck to the back of the ego vehicle, a black sedan to the front left of the ego vehicle, a black sedan to the back right of the ego vehicle, a red car to the front of the ego vehicle, and a blue truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,876.7,458.3>, <c2,CAM_BACK,865.1,481.7>, <c3,CAM_FRONT_LEFT,1104.8,489.2>, <c4,CAM_BACK_RIGHT,410.8,600.0>, <c5,CAM_FRONT,1235.0,510.8>, and <c6,CAM_FRONT,201.7,434.2>."
            }
        ]
    },
    {
        "id": "b0b26c1e5a1140e69598422f12ae1dc0_4a423faa3dc14d5f89f34836c938a776_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153467262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153467254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153467270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153467287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153467297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153467278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,876.7,458.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b0b26c1e5a1140e69598422f12ae1dc0_4a423faa3dc14d5f89f34836c938a776_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153467262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153467254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153467270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153467287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153467297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153467278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,876.7,458.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b0b26c1e5a1140e69598422f12ae1dc0_4a423faa3dc14d5f89f34836c938a776_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153467262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153467254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153467270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153467287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153467297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153467278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,876.7,458.3>? 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": "b0b26c1e5a1140e69598422f12ae1dc0_4a423faa3dc14d5f89f34836c938a776_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153467262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153467254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153467270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153467287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153467297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153467278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,876.7,458.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,876.7,458.3>."
            }
        ]
    },
    {
        "id": "b0b26c1e5a1140e69598422f12ae1dc0_4a423faa3dc14d5f89f34836c938a776_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153467262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153467254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153467270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153467287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153467297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153467278113.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": "b0b26c1e5a1140e69598422f12ae1dc0_4a423faa3dc14d5f89f34836c938a776_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153467262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153467254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153467270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153467287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153467297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153467278113.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": "53d376c20b7146349a53554a4616c48c_b4beb0af866649baae59228399859af9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488020912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488020904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488020920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488020937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488020947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488020928113.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 pickup truck to the front of the ego vehicle, a silver SUV to the back of the ego vehicle, a white sedan to the front of the ego vehicle, and a pedestrian in a wheelchair to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,881.7,498.3>, <c2,CAM_BACK,926.7,540.0>, <c3,CAM_FRONT,365.0,621.7>, and <c4,CAM_FRONT,1144.4,570.1>."
            }
        ]
    },
    {
        "id": "53d376c20b7146349a53554a4616c48c_b4beb0af866649baae59228399859af9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488020912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488020904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488020920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488020937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488020947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488020928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,881.7,498.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "53d376c20b7146349a53554a4616c48c_b4beb0af866649baae59228399859af9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488020912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488020904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488020920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488020937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488020947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488020928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,881.7,498.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "53d376c20b7146349a53554a4616c48c_b4beb0af866649baae59228399859af9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488020912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488020904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488020920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488020937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488020947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488020928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,881.7,498.3>? 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 that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "53d376c20b7146349a53554a4616c48c_b4beb0af866649baae59228399859af9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488020912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488020904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488020920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488020937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488020947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488020928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,881.7,498.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "53d376c20b7146349a53554a4616c48c_b4beb0af866649baae59228399859af9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488020912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488020904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488020920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488020937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488020947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488020928113.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."
            }
        ]
    },
    {
        "id": "53d376c20b7146349a53554a4616c48c_b4beb0af866649baae59228399859af9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488020912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488020904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488020920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488020937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488020947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488020928113.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": "53d376c20b7146349a53554a4616c48c_57876af9398c4133906b47b14da5f67b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488005762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488005754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488005770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488005787719.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488005797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488005778113.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 of the ego vehicle, a white sedan to the back of the ego vehicle, a white bus to the front of the ego vehicle, a white pickup truck to the back of the ego vehicle, and a person in a wheelchair to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1323.3,506.7>, <c2,CAM_BACK,847.5,544.2>, <c3,CAM_FRONT,501.7,430.8>, <c4,CAM_BACK,1255.0,530.0>, and <c5,CAM_FRONT,965.5,540.7>."
            }
        ]
    },
    {
        "id": "53d376c20b7146349a53554a4616c48c_57876af9398c4133906b47b14da5f67b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488005762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488005754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488005770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488005787719.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488005797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488005778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,847.5,544.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "53d376c20b7146349a53554a4616c48c_57876af9398c4133906b47b14da5f67b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488005762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488005754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488005770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488005787719.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488005797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488005778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1323.3,506.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "53d376c20b7146349a53554a4616c48c_57876af9398c4133906b47b14da5f67b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488005762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488005754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488005770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488005787719.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488005797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488005778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1323.3,506.7>? 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": "53d376c20b7146349a53554a4616c48c_57876af9398c4133906b47b14da5f67b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488005762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488005754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488005770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488005787719.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488005797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488005778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1323.3,506.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "53d376c20b7146349a53554a4616c48c_57876af9398c4133906b47b14da5f67b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488005762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488005754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488005770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488005787719.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488005797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488005778113.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "53d376c20b7146349a53554a4616c48c_57876af9398c4133906b47b14da5f67b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488005762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488005754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488005770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488005787719.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488005797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488005778113.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": "9a61a88ed9094334a73aa93c08222110_4a40e25d4566496db0227c4eaefabb06_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884290162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884290154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884290170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884290187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884290197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884290177893.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 stationary motorcycle to the front of the ego vehicle, a white van to the front right of the ego vehicle, and pedestrians crossing the road to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1123.3,537.5>, <c2,CAM_FRONT_RIGHT,985.0,528.3>, and <c3,CAM_FRONT,1290.0,540.8>."
            }
        ]
    },
    {
        "id": "9a61a88ed9094334a73aa93c08222110_4a40e25d4566496db0227c4eaefabb06_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884290162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884290154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884290170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884290187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884290197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884290177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,1290.0,540.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9a61a88ed9094334a73aa93c08222110_4a40e25d4566496db0227c4eaefabb06_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884290162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884290154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884290170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884290187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884290197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884290177893.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 <c3,CAM_FRONT,1290.0,540.8>. The object is going ahead, so the ego vehicle should slow down and go ahead. Secondly, notice that <c1,CAM_FRONT,1123.3,537.5>. The object is stationary, so the ego vehicle should turn left. Thirdly, notice that <c2,CAM_FRONT_RIGHT,985.0,528.3>. The object is going ahead, so the ego vehicle should slow down and go ahead."
            }
        ]
    },
    {
        "id": "9a61a88ed9094334a73aa93c08222110_4a40e25d4566496db0227c4eaefabb06_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884290162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884290154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884290170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884290187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884290197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884290177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1123.3,537.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9a61a88ed9094334a73aa93c08222110_4a40e25d4566496db0227c4eaefabb06_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884290162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884290154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884290170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884290187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884290197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884290177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1123.3,537.5>? 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": "9a61a88ed9094334a73aa93c08222110_4a40e25d4566496db0227c4eaefabb06_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884290162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884290154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884290170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884290187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884290197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884290177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1123.3,537.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "9a61a88ed9094334a73aa93c08222110_4a40e25d4566496db0227c4eaefabb06_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884290162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884290154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884290170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884290187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884290197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884290177893.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 turn left."
            }
        ]
    },
    {
        "id": "9a61a88ed9094334a73aa93c08222110_4a40e25d4566496db0227c4eaefabb06_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884290162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884290154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884290170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884290187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884290197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884290177893.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": "9a61a88ed9094334a73aa93c08222110_67dee47149064324afa53e134fa40cf9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884287762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884287754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884287770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884287787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884287797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884287777893.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 truck to the back right of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1175.0,515.0>, <c2,CAM_BACK_RIGHT,1005.0,452.5>, and <c3,CAM_BACK,170.0,508.1>."
            }
        ]
    },
    {
        "id": "9a61a88ed9094334a73aa93c08222110_67dee47149064324afa53e134fa40cf9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884287762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884287754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884287770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884287787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884287797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884287777893.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 <c1,CAM_FRONT,1175.0,515.0>. The object is stationary, so the ego vehicle should continue moving forward at the same speed. Secondly notice that <c2,CAM_BACK_RIGHT,1005.0,452.5>. The object is stationary, so the ego vehicle should continue moving forward at the same speed. Thirdly notice that <c3,CAM_BACK,170.0,508.1>. The object is stationary, so the ego vehicle should continue moving forward at the same speed."
            }
        ]
    },
    {
        "id": "9a61a88ed9094334a73aa93c08222110_67dee47149064324afa53e134fa40cf9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884287762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884287754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884287770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884287787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884287797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884287777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1175.0,515.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9a61a88ed9094334a73aa93c08222110_67dee47149064324afa53e134fa40cf9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884287762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884287754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884287770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884287787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884287797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884287777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1175.0,515.0>? 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": "9a61a88ed9094334a73aa93c08222110_67dee47149064324afa53e134fa40cf9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884287762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884287754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884287770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884287787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884287797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884287777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1175.0,515.0>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "9a61a88ed9094334a73aa93c08222110_67dee47149064324afa53e134fa40cf9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884287762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884287754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884287770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884287787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884287797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884287777893.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 right."
            }
        ]
    },
    {
        "id": "9a61a88ed9094334a73aa93c08222110_67dee47149064324afa53e134fa40cf9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884287762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884287754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884287770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884287787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884287797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884287777893.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": "01c3f5e39956402da3e37845632fadca_d778d608ec584bb19e63dc955ad32a90_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153734012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153734004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153734020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153734037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153734047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153734028113.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 truck to the front of the ego vehicle, a gray sedan to the front of the ego vehicle, a utility pole to the front of the ego vehicle, and a electric pole to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1599.2,480.0>, <c2,CAM_FRONT,657.5,498.3>, <c3,CAM_FRONT,1216.6,303.5>, and <c4,CAM_FRONT,363.6,289.6>."
            }
        ]
    },
    {
        "id": "01c3f5e39956402da3e37845632fadca_d778d608ec584bb19e63dc955ad32a90_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153734012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153734004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153734020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153734037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153734047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153734028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1599.2,480.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "01c3f5e39956402da3e37845632fadca_d778d608ec584bb19e63dc955ad32a90_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153734012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153734004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153734020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153734037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153734047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153734028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1599.2,480.0>? 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": "01c3f5e39956402da3e37845632fadca_d778d608ec584bb19e63dc955ad32a90_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153734012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153734004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153734020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153734037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153734047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153734028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1599.2,480.0>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "01c3f5e39956402da3e37845632fadca_d778d608ec584bb19e63dc955ad32a90_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153734012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153734004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153734020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153734037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153734047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153734028113.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, brake gently to a stop, or keep going at the same speed."
            }
        ]
    },
    {
        "id": "01c3f5e39956402da3e37845632fadca_d778d608ec584bb19e63dc955ad32a90_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153734012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153734004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153734020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153734037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153734047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153734028113.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": "01c3f5e39956402da3e37845632fadca_4c8b3add6f994bfebbf8585f725506b1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153720912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153720904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153720920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153720937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153720947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153720928561.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 sidewalk to the front of the ego vehicle, and a street lamp to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,516.2,423.8>, <c2,CAM_FRONT,1028.7,452.3>, and <c3,CAM_FRONT,1301.4,316.5>."
            }
        ]
    },
    {
        "id": "01c3f5e39956402da3e37845632fadca_4c8b3add6f994bfebbf8585f725506b1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153720912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153720904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153720920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153720937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153720947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153720928561.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,516.2,423.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "01c3f5e39956402da3e37845632fadca_4c8b3add6f994bfebbf8585f725506b1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153720912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153720904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153720920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153720937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153720947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153720928561.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": "The ego vehicle should first notice <c1,CAM_FRONT,516.2,423.8>, which is in the state of moving forward, so the ego vehicle should take the action of maintaining speed and continuing forward. The ego vehicle should then notice <c2,CAM_FRONT,1028.7,452.3>, which is a traffic sign, so the ego vehicle should take the action of maintaining speed and continuing forward. Finally, the ego vehicle should notice <c3,CAM_FRONT,1301.4,316.5>, which is a street light, so the ego vehicle should take the action of maintaining speed and continuing forward."
            }
        ]
    },
    {
        "id": "01c3f5e39956402da3e37845632fadca_4c8b3add6f994bfebbf8585f725506b1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153720912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153720904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153720920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153720937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153720947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153720928561.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,516.2,423.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "01c3f5e39956402da3e37845632fadca_4c8b3add6f994bfebbf8585f725506b1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153720912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153720904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153720920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153720937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153720947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153720928561.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,516.2,423.8>? 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, high."
            }
        ]
    },
    {
        "id": "01c3f5e39956402da3e37845632fadca_4c8b3add6f994bfebbf8585f725506b1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153720912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153720904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153720920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153720937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153720947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153720928561.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,516.2,423.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "01c3f5e39956402da3e37845632fadca_4c8b3add6f994bfebbf8585f725506b1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153720912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153720904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153720920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153720937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153720947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153720928561.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": "01c3f5e39956402da3e37845632fadca_4c8b3add6f994bfebbf8585f725506b1_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153720912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153720904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153720920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153720937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153720947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153720928561.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": "0c601ff2bf004fccafec366b08bf29e2_17a00680440148a495caf18f86077781_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886076912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886076904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886076920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886076937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886076947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886076927893.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 clothes to the back of the ego vehicle, a white commercial vehicle to the front of the ego vehicle, a person wearing white clothes to the front of the ego vehicle, a pedestrian in white clothes to the front right of the ego vehicle, a pedestrian in red clothes to the back left of the ego vehicle, and a blue-green car to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,710.0,533.3>, <c2,CAM_FRONT,290.3,545.4>, <c3,CAM_FRONT,1121.0,663.4>, <c4,CAM_FRONT_RIGHT,1485.0,493.3>, <c5,CAM_BACK_LEFT,1457.5,598.3>, and <c6,CAM_BACK_RIGHT,418.3,506.7>."
            }
        ]
    },
    {
        "id": "0c601ff2bf004fccafec366b08bf29e2_17a00680440148a495caf18f86077781_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886076912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886076904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886076920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886076937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886076947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886076927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,710.0,533.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "0c601ff2bf004fccafec366b08bf29e2_17a00680440148a495caf18f86077781_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886076912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886076904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886076920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886076937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886076947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886076927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,710.0,533.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0c601ff2bf004fccafec366b08bf29e2_17a00680440148a495caf18f86077781_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886076912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886076904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886076920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886076937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886076947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886076927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,710.0,533.3>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "0c601ff2bf004fccafec366b08bf29e2_17a00680440148a495caf18f86077781_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886076912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886076904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886076920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886076937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886076947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886076927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,710.0,533.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "0c601ff2bf004fccafec366b08bf29e2_17a00680440148a495caf18f86077781_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886076912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886076904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886076920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886076937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886076947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886076927893.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": "Back up, slightly offset to the left, are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "0c601ff2bf004fccafec366b08bf29e2_17a00680440148a495caf18f86077781_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886076912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886076904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886076920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886076937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886076947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886076927893.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": "0c601ff2bf004fccafec366b08bf29e2_5a1f37aea5be4500a3f36e3764f273ad_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886071012466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886071004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886071020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886071037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886071047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886071027893.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 woman wearing a floral dress to the back right of the ego vehicle, a man wearing a white shirt to the front left of the ego vehicle, a man wearing a white shirt to the front right of the ego vehicle, a man wearing black pants to the back of the ego vehicle, and a man wearing a white shirt to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1354.2,558.3>, <c2,CAM_FRONT_LEFT,1142.5,565.0>, <c3,CAM_FRONT_RIGHT,1515.8,495.0>, <c4,CAM_BACK,416.7,548.3>, and <c5,CAM_BACK,1302.5,515.0>."
            }
        ]
    },
    {
        "id": "0c601ff2bf004fccafec366b08bf29e2_5a1f37aea5be4500a3f36e3764f273ad_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886071012466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886071004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886071020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886071037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886071047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886071027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,1354.2,558.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "0c601ff2bf004fccafec366b08bf29e2_5a1f37aea5be4500a3f36e3764f273ad_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886071012466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886071004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886071020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886071037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886071047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886071027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1354.2,558.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "0c601ff2bf004fccafec366b08bf29e2_5a1f37aea5be4500a3f36e3764f273ad_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886071012466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886071004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886071020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886071037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886071047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886071027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1354.2,558.3>? 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": "0c601ff2bf004fccafec366b08bf29e2_5a1f37aea5be4500a3f36e3764f273ad_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886071012466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886071004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886071020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886071037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886071047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886071027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,1142.5,565.0>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "0c601ff2bf004fccafec366b08bf29e2_5a1f37aea5be4500a3f36e3764f273ad_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886071012466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886071004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886071020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886071037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886071047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886071027893.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 suddenly, brake gently to a stop, and turn left."
            }
        ]
    },
    {
        "id": "0c601ff2bf004fccafec366b08bf29e2_5a1f37aea5be4500a3f36e3764f273ad_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886071012466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886071004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886071020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886071037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886071047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886071027893.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": "d654cae175de44319ace178994ed0329_11ba7e5bc2b840c2a8e6000a2bebba21_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583259662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583259654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583259670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583259687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583259697410.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583259678113.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 pickup truck to the front of the ego vehicle, a black SUV to the front of the ego vehicle, a pedestrian moving forward to the front of the ego vehicle, and a black SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1140.8,488.3>, <c2,CAM_FRONT,638.3,483.3>, <c3,CAM_FRONT,1314.2,613.3>, and <c4,CAM_BACK,921.1,607.0>."
            }
        ]
    },
    {
        "id": "d654cae175de44319ace178994ed0329_11ba7e5bc2b840c2a8e6000a2bebba21_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583259662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583259654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583259670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583259687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583259697410.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583259678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,1314.2,613.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d654cae175de44319ace178994ed0329_11ba7e5bc2b840c2a8e6000a2bebba21_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583259662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583259654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583259670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583259687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583259697410.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583259678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1140.8,488.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d654cae175de44319ace178994ed0329_11ba7e5bc2b840c2a8e6000a2bebba21_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583259662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583259654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583259670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583259687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583259697410.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583259678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1140.8,488.3>? 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": "d654cae175de44319ace178994ed0329_11ba7e5bc2b840c2a8e6000a2bebba21_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583259662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583259654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583259670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583259687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583259697410.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583259678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1140.8,488.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "d654cae175de44319ace178994ed0329_11ba7e5bc2b840c2a8e6000a2bebba21_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583259662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583259654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583259670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583259687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583259697410.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583259678113.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": "d654cae175de44319ace178994ed0329_11ba7e5bc2b840c2a8e6000a2bebba21_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583259662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583259654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583259670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583259687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583259697410.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583259678113.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": "980ddcb62e294608bd4235b0dfd517f4_dae22c7877f945569dac6a6c58de4adc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800669162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800669154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800669170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800669187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800669197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800669177893.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 red and white speed limit sign to the front left of the ego vehicle, a black sedan to the back right of the ego vehicle, and a white deceleration sign to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,765.0,530.8>, <c2,CAM_FRONT_LEFT,628.5,149.9>, <c3,CAM_BACK_RIGHT,558.5,476.4>, and <c4,CAM_FRONT_LEFT,1119.8,784.7>."
            }
        ]
    },
    {
        "id": "980ddcb62e294608bd4235b0dfd517f4_dae22c7877f945569dac6a6c58de4adc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800669162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800669154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800669170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800669187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800669197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800669177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK_RIGHT,558.5,476.4>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "980ddcb62e294608bd4235b0dfd517f4_dae22c7877f945569dac6a6c58de4adc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800669162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800669154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800669170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800669187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800669197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800669177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,765.0,530.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "980ddcb62e294608bd4235b0dfd517f4_dae22c7877f945569dac6a6c58de4adc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800669162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800669154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800669170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800669187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800669197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800669177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,765.0,530.8>? 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": "980ddcb62e294608bd4235b0dfd517f4_dae22c7877f945569dac6a6c58de4adc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800669162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800669154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800669170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800669187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800669197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800669177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,765.0,530.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,765.0,530.8>."
            }
        ]
    },
    {
        "id": "980ddcb62e294608bd4235b0dfd517f4_dae22c7877f945569dac6a6c58de4adc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800669162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800669154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800669170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800669187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800669197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800669177893.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, slightly offset to the left, and turn left."
            }
        ]
    },
    {
        "id": "980ddcb62e294608bd4235b0dfd517f4_dae22c7877f945569dac6a6c58de4adc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800669162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800669154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800669170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800669187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800669197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800669177893.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": "cddd0d5be10b4313a859524952455f43_d2170a4a449542fc8a79c03aca5b288d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292772262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292772254818.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292772270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292772287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292772297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292772278113.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 of the ego vehicle, a gray SUV to the back left of the ego vehicle, and a black SUV to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,265.0,525.0>, <c2,CAM_BACK_LEFT,325.8,624.2>, and <c3,CAM_BACK_RIGHT,361.7,559.2>."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_d2170a4a449542fc8a79c03aca5b288d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292772262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292772254818.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292772270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292772287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292772297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292772278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,265.0,525.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_d2170a4a449542fc8a79c03aca5b288d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292772262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292772254818.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292772270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292772287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292772297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292772278113.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 <c1,CAM_FRONT,265.0,525.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c2,CAM_BACK_LEFT,325.8,624.2>. The object is also going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK_RIGHT,361.7,559.2>. The object is stationary, so the ego vehicle should remain stationary continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_d2170a4a449542fc8a79c03aca5b288d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292772262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292772254818.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292772270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292772287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292772297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292772278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,265.0,525.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_d2170a4a449542fc8a79c03aca5b288d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292772262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292772254818.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292772270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292772287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292772297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292772278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,265.0,525.0>? 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 there is no safety issue. The probability is high."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_d2170a4a449542fc8a79c03aca5b288d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292772262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292772254818.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292772270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292772287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292772297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292772278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,265.0,525.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_d2170a4a449542fc8a79c03aca5b288d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292772262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292772254818.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292772270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292772287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292772297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292772278113.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, turn right, and slightly offset to the right."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_d2170a4a449542fc8a79c03aca5b288d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292772262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292772254818.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292772270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292772287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292772297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292772278113.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 fast."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_5f398cc04c3341e4b0757c7b8190e88f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292775662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292775654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292775670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292775687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292775697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292775678113.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 unknown to the front of the ego vehicle, a black sedan 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 <c1,CAM_BACK,1199.2,512.5>, <c2,CAM_FRONT,1522.5,503.3>, <c3,CAM_FRONT_RIGHT,235.8,524.2>, and <c4,CAM_FRONT,1232.4,95.9>."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_5f398cc04c3341e4b0757c7b8190e88f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292775662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292775654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292775670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292775687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292775697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292775678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1199.2,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_5f398cc04c3341e4b0757c7b8190e88f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292775662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292775654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292775670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292775687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292775697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292775678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1199.2,512.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_5f398cc04c3341e4b0757c7b8190e88f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292775662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292775654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292775670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292775687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292775697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292775678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1199.2,512.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_5f398cc04c3341e4b0757c7b8190e88f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292775662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292775654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292775670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292775687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292775697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292775678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1199.2,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_5f398cc04c3341e4b0757c7b8190e88f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292775662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292775654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292775670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292775687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292775697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292775678113.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, and turn right are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "cddd0d5be10b4313a859524952455f43_5f398cc04c3341e4b0757c7b8190e88f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292775662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292775654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292775670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292775687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292775697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292775678113.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": "1ecfbad2023f4b17b542801a21375e3f_fd2776ebe13b4a1a854dd4eca13a9c7e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622067362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622067354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622067370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622067387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622067397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622067378113.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 and green truck to the front left of the ego vehicle, a white car to the back left of the ego vehicle, a black car to the back of the ego vehicle, and a black truck to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1166.0,448.2>, <c2,CAM_BACK_LEFT,538.3,615.8>, <c3,CAM_BACK,850.0,496.7>, and <c4,CAM_FRONT_RIGHT,960.0,530.0>."
            }
        ]
    },
    {
        "id": "1ecfbad2023f4b17b542801a21375e3f_fd2776ebe13b4a1a854dd4eca13a9c7e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622067362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622067354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622067370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622067387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622067397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622067378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1166.0,448.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1ecfbad2023f4b17b542801a21375e3f_fd2776ebe13b4a1a854dd4eca13a9c7e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622067362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622067354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622067370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622067387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622067397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622067378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1166.0,448.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1ecfbad2023f4b17b542801a21375e3f_fd2776ebe13b4a1a854dd4eca13a9c7e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622067362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622067354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622067370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622067387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622067397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622067378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1166.0,448.2>? 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, high."
            }
        ]
    },
    {
        "id": "1ecfbad2023f4b17b542801a21375e3f_fd2776ebe13b4a1a854dd4eca13a9c7e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622067362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622067354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622067370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622067387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622067397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622067378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1166.0,448.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "1ecfbad2023f4b17b542801a21375e3f_fd2776ebe13b4a1a854dd4eca13a9c7e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622067362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622067354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622067370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622067387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622067397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622067378113.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": "1ecfbad2023f4b17b542801a21375e3f_fd2776ebe13b4a1a854dd4eca13a9c7e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622067362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622067354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622067370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622067387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622067397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622067378113.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": "12cd5f88732749a58725528bb3d86958_3b230acdd6d14b43b2e87d662f3e00bf_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114568662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114568654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114568670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114568687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114568697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114568677893.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 taxi to the front of the ego vehicle, a black car to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a silver sedan to the front of the ego vehicle, and a silver truck to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,894.2,500.8>, <c2,CAM_FRONT,960.8,496.7>, <c3,CAM_BACK,818.3,517.5>, <c4,CAM_FRONT,1136.7,530.0>, and <c5,CAM_BACK_RIGHT,520.0,648.3>."
            }
        ]
    },
    {
        "id": "12cd5f88732749a58725528bb3d86958_3b230acdd6d14b43b2e87d662f3e00bf_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114568662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114568654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114568670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114568687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114568697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114568677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,894.2,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "12cd5f88732749a58725528bb3d86958_3b230acdd6d14b43b2e87d662f3e00bf_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114568662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114568654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114568670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114568687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114568697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114568677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,894.2,500.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "12cd5f88732749a58725528bb3d86958_3b230acdd6d14b43b2e87d662f3e00bf_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114568662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114568654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114568670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114568687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114568697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114568677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,894.2,500.8>? 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": "12cd5f88732749a58725528bb3d86958_3b230acdd6d14b43b2e87d662f3e00bf_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114568662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114568654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114568670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114568687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114568697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114568677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,894.2,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "12cd5f88732749a58725528bb3d86958_3b230acdd6d14b43b2e87d662f3e00bf_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114568662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114568654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114568670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114568687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114568697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114568677893.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": "12cd5f88732749a58725528bb3d86958_3b230acdd6d14b43b2e87d662f3e00bf_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114568662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114568654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114568670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114568687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114568697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114568677893.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": "12cd5f88732749a58725528bb3d86958_a4633f696a4e41b7be4d5f0dce58aa02_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114559612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114559604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114559620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114559637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114559647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114559627893.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 black commercial vehicle to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,686.7,521.7>, <c2,CAM_FRONT,365.8,482.5>, and <c3,CAM_FRONT,535.0,500.8>."
            }
        ]
    },
    {
        "id": "12cd5f88732749a58725528bb3d86958_a4633f696a4e41b7be4d5f0dce58aa02_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114559612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114559604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114559620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114559637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114559647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114559627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,686.7,521.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "12cd5f88732749a58725528bb3d86958_a4633f696a4e41b7be4d5f0dce58aa02_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114559612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114559604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114559620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114559637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114559647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114559627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,686.7,521.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "12cd5f88732749a58725528bb3d86958_a4633f696a4e41b7be4d5f0dce58aa02_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114559612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114559604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114559620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114559637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114559647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114559627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,686.7,521.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn left, the reason is to avoid a collision with the object detected by the front camera at coordinates (686.7, 521.7), and the probability of this action is high."
            }
        ]
    },
    {
        "id": "12cd5f88732749a58725528bb3d86958_a4633f696a4e41b7be4d5f0dce58aa02_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114559612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114559604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114559620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114559637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114559647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114559627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,686.7,521.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "12cd5f88732749a58725528bb3d86958_a4633f696a4e41b7be4d5f0dce58aa02_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114559612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114559604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114559620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114559637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114559647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114559627893.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": "Turning left and backing up are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "12cd5f88732749a58725528bb3d86958_a4633f696a4e41b7be4d5f0dce58aa02_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114559612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114559604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114559620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114559637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114559647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114559627893.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": "93bdbe60d6d0495cbb39d6c811554905_cfbea336524c4f9da6b863c8fd82809a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867274512634.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867274504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867274520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867274537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867274547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867274528113.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 truck to the front right of the ego vehicle, a white minibus to the front left of the ego vehicle, a pedestrian to the back right of the ego vehicle, a white truck to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,865.8,495.8>, <c2,CAM_FRONT_RIGHT,803.4,512.7>, <c3,CAM_FRONT_LEFT,1001.9,449.7>, <c4,CAM_BACK_RIGHT,613.3,690.8>, <c5,CAM_FRONT,492.5,515.0>, and <c6,CAM_FRONT,635.0,505.8>."
            }
        ]
    },
    {
        "id": "93bdbe60d6d0495cbb39d6c811554905_cfbea336524c4f9da6b863c8fd82809a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867274512634.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867274504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867274520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867274537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867274547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867274528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,865.8,495.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "93bdbe60d6d0495cbb39d6c811554905_cfbea336524c4f9da6b863c8fd82809a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867274512634.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867274504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867274520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867274537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867274547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867274528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,865.8,495.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "93bdbe60d6d0495cbb39d6c811554905_cfbea336524c4f9da6b863c8fd82809a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867274512634.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867274504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867274520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867274537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867274547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867274528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,865.8,495.8>? 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": "93bdbe60d6d0495cbb39d6c811554905_cfbea336524c4f9da6b863c8fd82809a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867274512634.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867274504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867274520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867274537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867274547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867274528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,865.8,495.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "93bdbe60d6d0495cbb39d6c811554905_cfbea336524c4f9da6b863c8fd82809a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867274512634.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867274504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867274520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867274537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867274547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867274528113.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 continue ahead."
            }
        ]
    },
    {
        "id": "93bdbe60d6d0495cbb39d6c811554905_cfbea336524c4f9da6b863c8fd82809a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867274512634.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867274504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867274520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867274537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867274547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867274528113.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": "93bdbe60d6d0495cbb39d6c811554905_8c9ee8ccf20d4c09ba30f7a7edac362b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867271412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867271404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867271420531.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867271437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867271447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867271428113.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 black truck to the back left of the ego vehicle, a blue clothes pedestrian to the back right of the ego vehicle, a yellow construction vehicle to the front of the ego vehicle, a black truck to the front left of the ego vehicle, and a white car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,869.2,501.7>, <c2,CAM_BACK_LEFT,1156.7,555.0>, <c3,CAM_BACK_RIGHT,70.8,535.8>, <c4,CAM_FRONT,1257.5,482.5>, <c5,CAM_FRONT_LEFT,760.8,528.3>, and <c6,CAM_FRONT,500.8,540.8>."
            }
        ]
    },
    {
        "id": "93bdbe60d6d0495cbb39d6c811554905_8c9ee8ccf20d4c09ba30f7a7edac362b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867271412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867271404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867271420531.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867271437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867271447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867271428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,869.2,501.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "93bdbe60d6d0495cbb39d6c811554905_8c9ee8ccf20d4c09ba30f7a7edac362b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867271412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867271404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867271420531.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867271437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867271447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867271428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,869.2,501.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "93bdbe60d6d0495cbb39d6c811554905_8c9ee8ccf20d4c09ba30f7a7edac362b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867271412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867271404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867271420531.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867271437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867271447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867271428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,869.2,501.7>? 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": "93bdbe60d6d0495cbb39d6c811554905_8c9ee8ccf20d4c09ba30f7a7edac362b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867271412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867271404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867271420531.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867271437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867271447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867271428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,869.2,501.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "93bdbe60d6d0495cbb39d6c811554905_8c9ee8ccf20d4c09ba30f7a7edac362b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867271412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867271404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867271420531.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867271437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867271447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867271428113.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": "93bdbe60d6d0495cbb39d6c811554905_8c9ee8ccf20d4c09ba30f7a7edac362b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867271412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867271404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867271420531.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867271437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867271447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867271428113.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": "390f81ac97474695a727d688240e6fba_676d6da976fa44fab8b91a87b6cd2b27_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798943262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798943254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798943270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798943287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798943297424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798943277893.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 white sedan car to the front of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,721.7,516.7>, <c2,CAM_FRONT,1080.8,569.2>, and <c3,CAM_FRONT,840.0,498.3>."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_676d6da976fa44fab8b91a87b6cd2b27_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798943262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798943254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798943270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798943287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798943297424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798943277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,721.7,516.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_676d6da976fa44fab8b91a87b6cd2b27_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798943262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798943254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798943270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798943287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798943297424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798943277893.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 <c2,CAM_FRONT,1080.8,569.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,840.0,498.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,721.7,516.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_676d6da976fa44fab8b91a87b6cd2b27_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798943262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798943254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798943270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798943287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798943297424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798943277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,721.7,516.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_676d6da976fa44fab8b91a87b6cd2b27_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798943262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798943254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798943270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798943287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798943297424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798943277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,721.7,516.7>? 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": "390f81ac97474695a727d688240e6fba_676d6da976fa44fab8b91a87b6cd2b27_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798943262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798943254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798943270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798943287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798943297424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798943277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,721.7,516.7>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_676d6da976fa44fab8b91a87b6cd2b27_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798943262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798943254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798943270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798943287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798943297424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798943277893.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."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_676d6da976fa44fab8b91a87b6cd2b27_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798943262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798943254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798943270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798943287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798943297424.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798943277893.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": "390f81ac97474695a727d688240e6fba_f25e7fa9386b4884b4dd75b4fe826175_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798941662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798941654890.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798941670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798941687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798941697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798941677893.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 taxi to the front right of the ego vehicle, a silver sedan to the front of the ego vehicle, a black car to the back of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,197.4,675.3>, <c2,CAM_FRONT,909.2,516.7>, <c3,CAM_BACK,793.3,492.5>, and <c4,CAM_FRONT,835.2,501.7>."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_f25e7fa9386b4884b4dd75b4fe826175_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798941662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798941654890.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798941670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798941687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798941697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798941677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,197.4,675.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_f25e7fa9386b4884b4dd75b4fe826175_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798941662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798941654890.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798941670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798941687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798941697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798941677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,197.4,675.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_f25e7fa9386b4884b4dd75b4fe826175_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798941662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798941654890.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798941670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798941687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798941697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798941677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,197.4,675.3>? 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": "390f81ac97474695a727d688240e6fba_f25e7fa9386b4884b4dd75b4fe826175_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798941662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798941654890.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798941670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798941687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798941697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798941677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,197.4,675.3>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_f25e7fa9386b4884b4dd75b4fe826175_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798941662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798941654890.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798941670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798941687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798941697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798941677893.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 left."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_f25e7fa9386b4884b4dd75b4fe826175_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798941662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798941654890.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798941670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798941687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798941697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798941677893.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": "390f81ac97474695a727d688240e6fba_76756e097b784bdc83d453d956b360fe_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798932662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798932654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798932670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798932687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798932697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798932677893.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 front of the ego vehicle, a unable to see clearly to the front of the ego vehicle, and a cannot see clearly to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1216.7,555.8>, <c2,CAM_FRONT,909.2,491.7>, and <c3,CAM_FRONT,850.0,485.0>."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_76756e097b784bdc83d453d956b360fe_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798932662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798932654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798932670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798932687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798932697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798932677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1216.7,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_76756e097b784bdc83d453d956b360fe_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798932662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798932654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798932670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798932687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798932697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798932677893.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 <c1,CAM_FRONT,1216.7,555.8>. The object is going ahead, so the ego vehicle should continue at the same speed. Secondly, notice <c2,CAM_FRONT,909.2,491.7>. The object is going ahead, so the ego vehicle should continue at the same speed. Thirdly, notice <c3,CAM_FRONT,850.0,485.0>. The object is going ahead, so the ego vehicle should continue at the same speed."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_76756e097b784bdc83d453d956b360fe_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798932662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798932654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798932670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798932687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798932697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798932677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1216.7,555.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_76756e097b784bdc83d453d956b360fe_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798932662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798932654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798932670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798932687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798932697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798932677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1216.7,555.8>? 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 probability."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_76756e097b784bdc83d453d956b360fe_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798932662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798932654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798932670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798932687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798932697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798932677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1216.7,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "390f81ac97474695a727d688240e6fba_76756e097b784bdc83d453d956b360fe_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798932662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798932654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798932670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798932687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798932697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798932677893.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": "390f81ac97474695a727d688240e6fba_76756e097b784bdc83d453d956b360fe_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798932662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798932654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798932670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798932687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798932697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798932677893.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": "c7b8d96173bf41dc8df8c0d16adfc71e_2b4cb84d3cf649dcb75fc43d9655473a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985162612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985162604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985162620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985162637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985162647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985162627893.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 front right of the ego vehicle, a green bus to the back of the ego vehicle, and a silver sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1299.2,513.8>, <c2,CAM_BACK,1172.5,481.7>, and <c3,CAM_BACK_RIGHT,1359.6,556.2>."
            }
        ]
    },
    {
        "id": "c7b8d96173bf41dc8df8c0d16adfc71e_2b4cb84d3cf649dcb75fc43d9655473a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985162612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985162604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985162620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985162637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985162647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985162627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,1172.5,481.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c7b8d96173bf41dc8df8c0d16adfc71e_2b4cb84d3cf649dcb75fc43d9655473a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985162612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985162604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985162620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985162637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985162647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985162627893.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 <c1,CAM_FRONT_RIGHT,1299.2,513.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_BACK_RIGHT,1359.6,556.2>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK,1172.5,481.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "c7b8d96173bf41dc8df8c0d16adfc71e_2b4cb84d3cf649dcb75fc43d9655473a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985162612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985162604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985162620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985162637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985162647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985162627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1299.2,513.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c7b8d96173bf41dc8df8c0d16adfc71e_2b4cb84d3cf649dcb75fc43d9655473a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985162612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985162604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985162620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985162637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985162647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985162627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1299.2,513.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to decelerate gradually without braking because there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "c7b8d96173bf41dc8df8c0d16adfc71e_2b4cb84d3cf649dcb75fc43d9655473a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985162612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985162604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985162620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985162637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985162647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985162627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1299.2,513.8>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT_RIGHT,1299.2,513.8>."
            }
        ]
    },
    {
        "id": "c7b8d96173bf41dc8df8c0d16adfc71e_2b4cb84d3cf649dcb75fc43d9655473a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985162612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985162604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985162620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985162637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985162647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985162627893.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": "c7b8d96173bf41dc8df8c0d16adfc71e_2b4cb84d3cf649dcb75fc43d9655473a_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985162612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985162604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985162620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985162637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985162647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985162627893.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": "edf6a55a70114f6296143ed471251804_6ccd4899d7504b0d8a155c111fd8b3cc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193476862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193476854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193476870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193476887541.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193476897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193476877893.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 bus to the front of the ego vehicle, a unclear to the front of the ego vehicle, and a unable to see clearly to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,890.8,464.2>, <c2,CAM_FRONT,1011.7,489.2>, and <c3,CAM_BACK,703.3,514.2>."
            }
        ]
    },
    {
        "id": "edf6a55a70114f6296143ed471251804_6ccd4899d7504b0d8a155c111fd8b3cc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193476862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193476854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193476870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193476887541.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193476897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193476877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1011.7,489.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "edf6a55a70114f6296143ed471251804_6ccd4899d7504b0d8a155c111fd8b3cc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193476862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193476854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193476870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193476887541.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193476897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193476877893.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 <c1,CAM_FRONT,890.8,464.2>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c2,CAM_FRONT,1011.7,489.2>. It is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c3,CAM_BACK,703.3,514.2>. It is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "edf6a55a70114f6296143ed471251804_6ccd4899d7504b0d8a155c111fd8b3cc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193476862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193476854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193476870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193476887541.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193476897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193476877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,890.8,464.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "edf6a55a70114f6296143ed471251804_6ccd4899d7504b0d8a155c111fd8b3cc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193476862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193476854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193476870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193476887541.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193476897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193476877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,890.8,464.2>? 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 is high probability."
            }
        ]
    },
    {
        "id": "edf6a55a70114f6296143ed471251804_6ccd4899d7504b0d8a155c111fd8b3cc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193476862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193476854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193476870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193476887541.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193476897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193476877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,890.8,464.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "edf6a55a70114f6296143ed471251804_6ccd4899d7504b0d8a155c111fd8b3cc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193476862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193476854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193476870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193476887541.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193476897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193476877893.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": "edf6a55a70114f6296143ed471251804_6ccd4899d7504b0d8a155c111fd8b3cc_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193476862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193476854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193476870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193476887541.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193476897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193476877893.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": "f05ec45554f842ccb523caf326750f13_88d6f194f1244352a55dd739ba6b3947_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533280933112467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533280933104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533280933120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533280933137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533280933147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533280933127893.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 minivan to the back of the ego vehicle, a woman wearing a black top to the front of the ego vehicle, and a man riding an electric bike to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,720.8,505.8>, <c2,CAM_FRONT,546.7,500.8>, and <c3,CAM_FRONT_RIGHT,1144.2,651.7>."
            }
        ]
    },
    {
        "id": "f05ec45554f842ccb523caf326750f13_88d6f194f1244352a55dd739ba6b3947_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533280933112467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533280933104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533280933120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533280933137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533280933147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533280933127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,720.8,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f05ec45554f842ccb523caf326750f13_88d6f194f1244352a55dd739ba6b3947_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533280933112467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533280933104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533280933120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533280933137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533280933147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533280933127893.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 <c3,CAM_FRONT_RIGHT,1144.2,651.7>. The object is going ahead, so the ego vehicle should accelerate and go ahead. Secondly, notice that <c2,CAM_FRONT,546.7,500.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,720.8,505.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "f05ec45554f842ccb523caf326750f13_88d6f194f1244352a55dd739ba6b3947_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533280933112467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533280933104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533280933120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533280933137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533280933147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533280933127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,720.8,505.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f05ec45554f842ccb523caf326750f13_88d6f194f1244352a55dd739ba6b3947_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533280933112467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533280933104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533280933120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533280933137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533280933147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533280933127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,720.8,505.8>? 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 is high."
            }
        ]
    },
    {
        "id": "f05ec45554f842ccb523caf326750f13_88d6f194f1244352a55dd739ba6b3947_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533280933112467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533280933104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533280933120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533280933137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533280933147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533280933127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,720.8,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "f05ec45554f842ccb523caf326750f13_88d6f194f1244352a55dd739ba6b3947_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533280933112467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533280933104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533280933120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533280933137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533280933147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533280933127893.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 continue ahead."
            }
        ]
    },
    {
        "id": "f05ec45554f842ccb523caf326750f13_88d6f194f1244352a55dd739ba6b3947_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533280933112467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533280933104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533280933120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533280933137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533280933147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533280933127893.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": "e02aee6f1fec4d13ad77044466da5fb4_5be27477c4884ed4a49dda31bb4e0612_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296381912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296381904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296381920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296381937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296381947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296381928113.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 black car to the front of the ego vehicle, a white truck to the front right of the ego vehicle, a silver SUV to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,967.5,478.3>, <c2,CAM_FRONT,899.2,467.5>, <c3,CAM_FRONT_RIGHT,666.7,437.5>, <c4,CAM_FRONT,453.3,490.0>, and <c5,CAM_FRONT,819.6,302.1>."
            }
        ]
    },
    {
        "id": "e02aee6f1fec4d13ad77044466da5fb4_5be27477c4884ed4a49dda31bb4e0612_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296381912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296381904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296381920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296381937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296381947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296381928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,899.2,467.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e02aee6f1fec4d13ad77044466da5fb4_5be27477c4884ed4a49dda31bb4e0612_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296381912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296381904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296381920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296381937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296381947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296381928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,967.5,478.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e02aee6f1fec4d13ad77044466da5fb4_5be27477c4884ed4a49dda31bb4e0612_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296381912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296381904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296381920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296381937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296381947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296381928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,967.5,478.3>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "e02aee6f1fec4d13ad77044466da5fb4_5be27477c4884ed4a49dda31bb4e0612_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296381912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296381904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296381920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296381937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296381947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296381928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,967.5,478.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "e02aee6f1fec4d13ad77044466da5fb4_5be27477c4884ed4a49dda31bb4e0612_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296381912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296381904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296381920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296381937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296381947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296381928113.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": "e02aee6f1fec4d13ad77044466da5fb4_5be27477c4884ed4a49dda31bb4e0612_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296381912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296381904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296381920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296381937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296381947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296381928113.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": "e02aee6f1fec4d13ad77044466da5fb4_5002f6a7fec747abb9c45f116da03320_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296365362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296365354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296365370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296365389102.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296365397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296365378113.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 top to the back left of the ego vehicle, a red truck to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, a black pants pedestrian to the front of the ego vehicle, and a yellow light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,630.0,633.3>, <c2,CAM_FRONT_LEFT,1245.9,412.2>, <c3,CAM_FRONT,589.2,490.8>, <c4,CAM_FRONT,1228.3,475.8>, and <c5,CAM_FRONT,861.1,277.7>."
            }
        ]
    },
    {
        "id": "e02aee6f1fec4d13ad77044466da5fb4_5002f6a7fec747abb9c45f116da03320_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296365362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296365354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296365370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296365389102.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296365397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296365378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_LEFT,630.0,633.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e02aee6f1fec4d13ad77044466da5fb4_5002f6a7fec747abb9c45f116da03320_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296365362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296365354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296365370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296365389102.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296365397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296365378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,630.0,633.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e02aee6f1fec4d13ad77044466da5fb4_5002f6a7fec747abb9c45f116da03320_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296365362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296365354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296365370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296365389102.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296365397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296365378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,630.0,633.3>? 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": "e02aee6f1fec4d13ad77044466da5fb4_5002f6a7fec747abb9c45f116da03320_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296365362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296365354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296365370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296365389102.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296365397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296365378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,1245.9,412.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "e02aee6f1fec4d13ad77044466da5fb4_5002f6a7fec747abb9c45f116da03320_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296365362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296365354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296365370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296365389102.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296365397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296365378113.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": "e02aee6f1fec4d13ad77044466da5fb4_5002f6a7fec747abb9c45f116da03320_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296365362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296365354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296365370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296365389102.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296365397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296365378113.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": "8adaf76e6005413181924e6c83053a21_af20005535bd4d44bb5faf180e54365e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193342512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193342504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193342520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193342537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193342547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193342527893.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 blue sedan to the front of the ego vehicle, and a black pedestrian to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1007.5,521.7>, <c2,CAM_FRONT,1177.5,587.5>, and <c3,CAM_FRONT_RIGHT,154.2,535.0>."
            }
        ]
    },
    {
        "id": "8adaf76e6005413181924e6c83053a21_af20005535bd4d44bb5faf180e54365e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193342512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193342504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193342520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193342537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193342547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193342527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1007.5,521.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8adaf76e6005413181924e6c83053a21_af20005535bd4d44bb5faf180e54365e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193342512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193342504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193342520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193342537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193342547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193342527893.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 <c2,CAM_FRONT,1177.5,587.5>. It is going ahead, so the ego vehicle should continue at the same speed. Secondly, notice <c3,CAM_FRONT_RIGHT,154.2,535.0>. It is going ahead, so the ego vehicle should continue at the same speed. Thirdly, notice <c1,CAM_BACK,1007.5,521.7>. It is going ahead, so the ego vehicle should continue at the same speed."
            }
        ]
    },
    {
        "id": "8adaf76e6005413181924e6c83053a21_af20005535bd4d44bb5faf180e54365e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193342512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193342504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193342520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193342537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193342547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193342527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1007.5,521.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8adaf76e6005413181924e6c83053a21_af20005535bd4d44bb5faf180e54365e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193342512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193342504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193342520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193342537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193342547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193342527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1007.5,521.7>? 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": "8adaf76e6005413181924e6c83053a21_af20005535bd4d44bb5faf180e54365e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193342512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193342504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193342520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193342537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193342547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193342527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1007.5,521.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "8adaf76e6005413181924e6c83053a21_af20005535bd4d44bb5faf180e54365e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193342512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193342504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193342520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193342537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193342547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193342527893.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": "8adaf76e6005413181924e6c83053a21_af20005535bd4d44bb5faf180e54365e_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193342512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193342504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193342520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193342537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193342547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193342527893.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": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_88bd968d1af14de9b1fd9a39ec5e430c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621826512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621826504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621826520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621826537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621826547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621826528113.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 woman wearing white pants to the front of the ego vehicle, and a white pickup truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1052.5,480.8>, <c2,CAM_FRONT,1225.8,519.2>, and <c3,CAM_FRONT,403.7,535.8>."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_88bd968d1af14de9b1fd9a39ec5e430c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621826512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621826504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621826520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621826537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621826547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621826528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1225.8,519.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_88bd968d1af14de9b1fd9a39ec5e430c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621826512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621826504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621826520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621826537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621826547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621826528113.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 <c3,CAM_FRONT,403.7,535.8>. It is going ahead, so the ego vehicle should slightly offset to the right in maneuvering. Secondly, notice <c1,CAM_FRONT_LEFT,1052.5,480.8>. It is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c2,CAM_FRONT,1225.8,519.2>. It is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_88bd968d1af14de9b1fd9a39ec5e430c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621826512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621826504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621826520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621826537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621826547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621826528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1052.5,480.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_88bd968d1af14de9b1fd9a39ec5e430c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621826512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621826504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621826520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621826537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621826547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621826528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1052.5,480.8>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_88bd968d1af14de9b1fd9a39ec5e430c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621826512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621826504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621826520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621826537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621826547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621826528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1052.5,480.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_88bd968d1af14de9b1fd9a39ec5e430c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621826512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621826504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621826520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621826537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621826547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621826528113.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_88bd968d1af14de9b1fd9a39ec5e430c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621826512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621826504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621826520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621826537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621826547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621826528113.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": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_a06325807f294794b03dc2983cf01ed6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621824412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621824404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621824420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621824437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621824447495.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621824428113.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 right of the ego vehicle, a black sedan to the back of the ego vehicle, a white commercial vehicle to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,410.0,673.3>, <c2,CAM_BACK,805.8,530.0>, <c3,CAM_FRONT,523.3,501.7>, and <c4,CAM_FRONT,810.0,505.8>."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_a06325807f294794b03dc2983cf01ed6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621824412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621824404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621824420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621824437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621824447495.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621824428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,805.8,530.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_a06325807f294794b03dc2983cf01ed6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621824412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621824404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621824420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621824437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621824447495.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621824428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,410.0,673.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_a06325807f294794b03dc2983cf01ed6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621824412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621824404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621824420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621824437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621824447495.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621824428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,410.0,673.3>? 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": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_a06325807f294794b03dc2983cf01ed6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621824412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621824404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621824420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621824437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621824447495.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621824428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,410.0,673.3>?"
            },
            {
                "from": "gpt",
                "value": "Keep stationary."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_a06325807f294794b03dc2983cf01ed6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621824412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621824404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621824420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621824437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621824447495.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621824428113.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": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_a06325807f294794b03dc2983cf01ed6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621824412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621824404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621824420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621824437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621824447495.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621824428113.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 with normal speed."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_022558873876467c8d467b83a6db30dd_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621818412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621818404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621818420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621818437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621818447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621818428113.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, pedestrians crossing the road to the front of the ego vehicle, a black sedan to the front of the ego vehicle, a silver business car to the front of the ego vehicle, and a zebra crossing to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,751.6,584.2>, <c2,CAM_FRONT,1243.3,678.3>, <c3,CAM_FRONT,885.8,509.2>, <c4,CAM_FRONT,517.0,548.0>, and <c5,CAM_FRONT,829.3,861.8>."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_022558873876467c8d467b83a6db30dd_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621818412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621818404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621818420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621818437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621818447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621818428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,751.6,584.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_022558873876467c8d467b83a6db30dd_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621818412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621818404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621818420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621818437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621818447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621818428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,751.6,584.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_022558873876467c8d467b83a6db30dd_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621818412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621818404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621818420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621818437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621818447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621818428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,751.6,584.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary. The reason is that the object has little reference value for the ego vehicle, and the probability of this action is high."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_022558873876467c8d467b83a6db30dd_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621818412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621818404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621818420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621818437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621818447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621818428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,751.6,584.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_022558873876467c8d467b83a6db30dd_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621818412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621818404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621818420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621818437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621818447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621818428113.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."
            }
        ]
    },
    {
        "id": "8e1f7ff7dc9940da8eeca3c06ae1aa4d_022558873876467c8d467b83a6db30dd_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621818412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621818404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621818420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621818437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621818447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621818428113.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": "643ee37539844cb2b0453fd031a3afdd_d367a73811334306be5c939610bee17b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659502912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659502904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659502920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659502937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659502947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659502928113.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 right of the ego vehicle, a blue sedan to the front right of the ego vehicle, a gray sedan to the back of the ego vehicle, a man wearing a white shirt to the front of the ego vehicle, a yellow construction vehicle to the front left of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1115.7,586.5>, <c2,CAM_FRONT_RIGHT,47.8,658.3>, <c3,CAM_BACK,879.8,532.9>, <c4,CAM_FRONT,732.5,519.2>, <c5,CAM_FRONT_LEFT,1545.3,498.3>, and <c6,CAM_FRONT,902.6,102.1>."
            }
        ]
    },
    {
        "id": "643ee37539844cb2b0453fd031a3afdd_d367a73811334306be5c939610bee17b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659502912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659502904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659502920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659502937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659502947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659502928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,879.8,532.9>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "643ee37539844cb2b0453fd031a3afdd_d367a73811334306be5c939610bee17b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659502912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659502904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659502920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659502937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659502947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659502928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1115.7,586.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "643ee37539844cb2b0453fd031a3afdd_d367a73811334306be5c939610bee17b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659502912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659502904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659502920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659502937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659502947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659502928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1115.7,586.5>? 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": "643ee37539844cb2b0453fd031a3afdd_d367a73811334306be5c939610bee17b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659502912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659502904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659502920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659502937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659502947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659502928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1115.7,586.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "643ee37539844cb2b0453fd031a3afdd_d367a73811334306be5c939610bee17b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659502912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659502904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659502920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659502937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659502947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659502928113.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "643ee37539844cb2b0453fd031a3afdd_d367a73811334306be5c939610bee17b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659502912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659502904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659502920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659502937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659502947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659502928113.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": "643ee37539844cb2b0453fd031a3afdd_12a0559497ae4592b3e061a591f7c35e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.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 front of the ego vehicle, a gray SUV to the back right of the ego vehicle, a black sedan to the back of the ego vehicle, a white truck to the front of the ego vehicle, and a gray sedan to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,220.8,543.3>, <c2,CAM_BACK_RIGHT,1205.0,635.0>, <c3,CAM_BACK,891.7,528.3>, <c4,CAM_FRONT,1114.2,449.2>, and <c5,CAM_BACK_LEFT,415.0,614.2>."
            }
        ]
    },
    {
        "id": "643ee37539844cb2b0453fd031a3afdd_12a0559497ae4592b3e061a591f7c35e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,891.7,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "643ee37539844cb2b0453fd031a3afdd_12a0559497ae4592b3e061a591f7c35e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,220.8,543.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "643ee37539844cb2b0453fd031a3afdd_12a0559497ae4592b3e061a591f7c35e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,220.8,543.3>? 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": "643ee37539844cb2b0453fd031a3afdd_12a0559497ae4592b3e061a591f7c35e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,220.8,543.3>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT,220.8,543.3>."
            }
        ]
    },
    {
        "id": "643ee37539844cb2b0453fd031a3afdd_12a0559497ae4592b3e061a591f7c35e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.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": "643ee37539844cb2b0453fd031a3afdd_12a0559497ae4592b3e061a591f7c35e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.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": "dcd5bc29543747e28ef02816dd458290_842613ca7b6c4235bb879e994af4876d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402867162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402867154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402867170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402867187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402867197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402867177893.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 and white car to the front of the ego vehicle, a pedestrian wearing yellow clothes to the front left of the ego vehicle, and a pedestrian wearing black clothes to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,863.3,611.7>, <c2,CAM_FRONT_LEFT,864.9,534.7>, and <c3,CAM_FRONT_RIGHT,1426.7,661.7>."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_842613ca7b6c4235bb879e994af4876d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402867162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402867154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402867170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402867187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402867197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402867177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,864.9,534.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_842613ca7b6c4235bb879e994af4876d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402867162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402867154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402867170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402867187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402867197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402867177893.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 <c1,CAM_FRONT,863.3,611.7>; the object is stationary, so the ego vehicle should take no action. Secondly notice that <c2,CAM_FRONT_LEFT,864.9,534.7>; the object is going ahead, so the ego vehicle should take no action. Thirdly notice that <c3,CAM_FRONT_RIGHT,1426.7,661.7>; the object is going ahead, so the ego vehicle should take no action."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_842613ca7b6c4235bb879e994af4876d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402867162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402867154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402867170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402867187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402867197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402867177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,863.3,611.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_842613ca7b6c4235bb879e994af4876d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402867162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402867154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402867170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402867187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402867197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402867177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,863.3,611.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary because the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_842613ca7b6c4235bb879e994af4876d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402867162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402867154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402867170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402867187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402867197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402867177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,863.3,611.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_842613ca7b6c4235bb879e994af4876d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402867162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402867154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402867170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402867187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402867197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402867177893.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, turn right, and continue at the same speed."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_842613ca7b6c4235bb879e994af4876d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402867162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402867154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402867170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402867187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402867197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402867177893.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": "dcd5bc29543747e28ef02816dd458290_b740e40f61c7410980beec6492167e0c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402866662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402866654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402866670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402866687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402866697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402866677893.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 front of the ego vehicle, a pedestrian wearing green clothes to the front left of the ego vehicle, and a pedestrian wearing black clothes to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,863.3,611.7>, <c2,CAM_FRONT_LEFT,708.9,562.3>, and <c3,CAM_FRONT_RIGHT,1059.2,614.2>."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_b740e40f61c7410980beec6492167e0c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402866662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402866654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402866670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402866687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402866697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402866677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,708.9,562.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_b740e40f61c7410980beec6492167e0c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402866662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402866654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402866670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402866687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402866697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402866677893.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 <c1,CAM_FRONT,863.3,611.7>, the object is stationary, so the ego vehicle should do nothing. Secondly notice that <c2,CAM_FRONT_LEFT,708.9,562.3>, the object is going ahead, so the ego vehicle should do nothing. Thirdly notice that <c3,CAM_FRONT_RIGHT,1059.2,614.2>, the object is going ahead, so the ego vehicle should do nothing."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_b740e40f61c7410980beec6492167e0c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402866662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402866654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402866670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402866687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402866697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402866677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,863.3,611.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_b740e40f61c7410980beec6492167e0c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402866662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402866654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402866670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402866687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402866697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402866677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,863.3,611.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is low."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_b740e40f61c7410980beec6492167e0c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402866662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402866654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402866670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402866687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402866697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402866677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,863.3,611.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_b740e40f61c7410980beec6492167e0c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402866662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402866654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402866670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402866687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402866697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402866677893.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 suddenly, slightly offset to the right."
            }
        ]
    },
    {
        "id": "dcd5bc29543747e28ef02816dd458290_b740e40f61c7410980beec6492167e0c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402866662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402866654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402866670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402866687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402866697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402866677893.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": "363bb6c0fdaf465aa54c39f082bb92c6_f7c58c1676cc4a18aee1c72eba1978e2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728921912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728921904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728921920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728921937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728921947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728921928113.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 black van to the front of the ego vehicle, a blue and white truck to the front of the ego vehicle, a white truck to the back left of the ego vehicle, a white truck to the back of the ego vehicle, and a white truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1479.2,442.5>, <c2,CAM_FRONT,845.8,485.8>, <c3,CAM_FRONT,151.7,545.8>, <c4,CAM_BACK_LEFT,394.2,445.8>, <c5,CAM_BACK,514.1,499.1>, and <c6,CAM_FRONT_LEFT,285.0,478.3>."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_f7c58c1676cc4a18aee1c72eba1978e2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728921912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728921904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728921920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728921937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728921947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728921928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c5,CAM_BACK,514.1,499.1>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_f7c58c1676cc4a18aee1c72eba1978e2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728921912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728921904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728921920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728921937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728921947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728921928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1479.2,442.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_f7c58c1676cc4a18aee1c72eba1978e2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728921912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728921904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728921920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728921937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728921947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728921928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1479.2,442.5>? 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 is high."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_f7c58c1676cc4a18aee1c72eba1978e2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728921912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728921904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728921920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728921937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728921947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728921928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1479.2,442.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_f7c58c1676cc4a18aee1c72eba1978e2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728921912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728921904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728921920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728921937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728921947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728921928113.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, keep going at the same speed, and decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_f7c58c1676cc4a18aee1c72eba1978e2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728921912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728921904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728921920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728921937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728921947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728921928113.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": "363bb6c0fdaf465aa54c39f082bb92c6_205b0e865d2f4903bc133da6f32c95cf_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728928912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728928905538.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728928920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728928937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728928947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728928928113.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 right of the ego vehicle, a white truck to the front of the ego vehicle, a red and white truck to the front of the ego vehicle, and a blue truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1287.5,519.2>, <c2,CAM_FRONT,1043.3,435.0>, <c3,CAM_FRONT,629.2,469.2>, and <c4,CAM_BACK,869.2,499.2>."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_205b0e865d2f4903bc133da6f32c95cf_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728928912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728928905538.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728928920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728928937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728928947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728928928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,629.2,469.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_205b0e865d2f4903bc133da6f32c95cf_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728928912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728928905538.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728928920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728928937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728928947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728928928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1287.5,519.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_205b0e865d2f4903bc133da6f32c95cf_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728928912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728928905538.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728928920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728928937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728928947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728928928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1287.5,519.2>? 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": "363bb6c0fdaf465aa54c39f082bb92c6_205b0e865d2f4903bc133da6f32c95cf_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728928912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728928905538.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728928920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728928937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728928947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728928928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,1043.3,435.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_205b0e865d2f4903bc133da6f32c95cf_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728928912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728928905538.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728928920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728928937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728928947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728928928113.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 left lane."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_205b0e865d2f4903bc133da6f32c95cf_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728928912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728928905538.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728928920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728928937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728928947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728928928113.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": "363bb6c0fdaf465aa54c39f082bb92c6_e4d6e83093534c4582ff7396a7bd132d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728923912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728923904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728923920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728923937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728923947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728923928113.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 van to the front left of the ego vehicle, a white truck to the front of the ego vehicle, a white truck to the back of the ego vehicle, a white truck to the back of the ego vehicle, and a white truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,482.5,485.8>, <c2,CAM_FRONT,1108.3,457.5>, <c3,CAM_BACK,256.0,475.0>, <c4,CAM_BACK,976.7,465.0>, and <c5,CAM_FRONT_LEFT,1374.2,429.2>."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_e4d6e83093534c4582ff7396a7bd132d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728923912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728923904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728923920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728923937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728923947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728923928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,256.0,475.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_e4d6e83093534c4582ff7396a7bd132d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728923912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728923904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728923920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728923937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728923947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728923928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,482.5,485.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_e4d6e83093534c4582ff7396a7bd132d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728923912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728923904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728923920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728923937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728923947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728923928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,482.5,485.8>? 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": "363bb6c0fdaf465aa54c39f082bb92c6_e4d6e83093534c4582ff7396a7bd132d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728923912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728923904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728923920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728923937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728923947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728923928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,482.5,485.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_e4d6e83093534c4582ff7396a7bd132d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728923912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728923904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728923920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728923937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728923947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728923928113.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, change to the left lane, slightly offset to the left."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_e4d6e83093534c4582ff7396a7bd132d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728923912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728923904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728923920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728923937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728923947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728923928113.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": "363bb6c0fdaf465aa54c39f082bb92c6_297cef22e0f143ceb1e4ef93088bcfb2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.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 business car to the front right of the ego vehicle, a white and blue SUV to the front of the ego vehicle, a white SUV to the back of the ego vehicle, a white truck to the back left of the ego vehicle, a white business to the front left of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,19.2,439.2>, <c2,CAM_FRONT,1112.5,479.2>, <c3,CAM_BACK,788.2,572.5>, <c4,CAM_BACK_LEFT,1331.7,470.0>, <c5,CAM_FRONT_LEFT,1135.0,463.3>, and <c6,CAM_FRONT,1040.7,327.9>."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_297cef22e0f143ceb1e4ef93088bcfb2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,788.2,572.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_297cef22e0f143ceb1e4ef93088bcfb2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,19.2,439.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_297cef22e0f143ceb1e4ef93088bcfb2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,19.2,439.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is to follow the traffic rules, which is high probability."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_297cef22e0f143ceb1e4ef93088bcfb2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,19.2,439.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_297cef22e0f143ceb1e4ef93088bcfb2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.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 right, slightly offset to the right."
            }
        ]
    },
    {
        "id": "363bb6c0fdaf465aa54c39f082bb92c6_297cef22e0f143ceb1e4ef93088bcfb2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.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": "25496f19ffd14bd088cb430bfc01a4d7_5c39883457854ab5994a1f32ea05d76f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531883994412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531883994404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531883994420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531883994437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531883994447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531883994427893.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 blue clothes to the front left of the ego vehicle, a person in red clothes to the back left of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,805.0,572.5>, <c2,CAM_BACK_LEFT,1240.8,552.5>, and <c3,CAM_FRONT,1383.6,578.3>."
            }
        ]
    },
    {
        "id": "25496f19ffd14bd088cb430bfc01a4d7_5c39883457854ab5994a1f32ea05d76f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531883994412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531883994404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531883994420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531883994437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531883994447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531883994427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,805.0,572.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "25496f19ffd14bd088cb430bfc01a4d7_5c39883457854ab5994a1f32ea05d76f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531883994412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531883994404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531883994420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531883994437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531883994447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531883994427893.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 <c3,CAM_FRONT,1383.6,578.3>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_LEFT,805.0,572.5>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK_LEFT,1240.8,552.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "25496f19ffd14bd088cb430bfc01a4d7_5c39883457854ab5994a1f32ea05d76f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531883994412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531883994404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531883994420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531883994437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531883994447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531883994427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,805.0,572.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "25496f19ffd14bd088cb430bfc01a4d7_5c39883457854ab5994a1f32ea05d76f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531883994412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531883994404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531883994420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531883994437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531883994447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531883994427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,805.0,572.5>? 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": "25496f19ffd14bd088cb430bfc01a4d7_5c39883457854ab5994a1f32ea05d76f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531883994412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531883994404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531883994420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531883994437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531883994447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531883994427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,805.0,572.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "25496f19ffd14bd088cb430bfc01a4d7_5c39883457854ab5994a1f32ea05d76f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531883994412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531883994404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531883994420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531883994437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531883994447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531883994427893.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": "25496f19ffd14bd088cb430bfc01a4d7_5c39883457854ab5994a1f32ea05d76f_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531883994412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531883994404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531883994420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531883994437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531883994447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531883994427893.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": "2755560e05784e5cbc76619793d36e86_059a96d74a62419086c9c7593a7785ce_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708189012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708189004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708189020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708189037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708189047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708189028113.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 of the ego vehicle, a white sedan car to the front of the ego vehicle, a white sedan to the back right of the ego vehicle, a silver 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 <c1,CAM_BACK,162.2,605.9>, <c2,CAM_FRONT,719.2,501.7>, <c3,CAM_BACK_RIGHT,1060.8,615.0>, <c4,CAM_FRONT_RIGHT,817.3,610.5>, and <c5,CAM_FRONT,1509.9,598.7>."
            }
        ]
    },
    {
        "id": "2755560e05784e5cbc76619793d36e86_059a96d74a62419086c9c7593a7785ce_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708189012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708189004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708189020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708189037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708189047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708189028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,719.2,501.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2755560e05784e5cbc76619793d36e86_059a96d74a62419086c9c7593a7785ce_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708189012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708189004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708189020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708189037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708189047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708189028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,162.2,605.9> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2755560e05784e5cbc76619793d36e86_059a96d74a62419086c9c7593a7785ce_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708189012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708189004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708189020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708189037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708189047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708189028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,162.2,605.9>? 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": "2755560e05784e5cbc76619793d36e86_059a96d74a62419086c9c7593a7785ce_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708189012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708189004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708189020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708189037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708189047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708189028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,719.2,501.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c2,CAM_FRONT,719.2,501.7>."
            }
        ]
    },
    {
        "id": "2755560e05784e5cbc76619793d36e86_059a96d74a62419086c9c7593a7785ce_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708189012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708189004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708189020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708189037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708189047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708189028113.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, and decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "2755560e05784e5cbc76619793d36e86_059a96d74a62419086c9c7593a7785ce_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708189012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708189004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708189020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708189037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708189047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708189028113.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": "2755560e05784e5cbc76619793d36e86_6e11c44b6ce24840957ca86808e1268b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708198862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708198854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708198870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708198887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708198897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708198878113.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 back of the ego vehicle, a black car to the front right of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,864.2,500.0>, <c2,CAM_BACK,558.3,539.2>, <c3,CAM_FRONT_RIGHT,1130.4,607.5>, and <c4,CAM_FRONT,1328.3,570.8>."
            }
        ]
    },
    {
        "id": "2755560e05784e5cbc76619793d36e86_6e11c44b6ce24840957ca86808e1268b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708198862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708198854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708198870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708198887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708198897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708198878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,864.2,500.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2755560e05784e5cbc76619793d36e86_6e11c44b6ce24840957ca86808e1268b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708198862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708198854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708198870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708198887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708198897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708198878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,864.2,500.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2755560e05784e5cbc76619793d36e86_6e11c44b6ce24840957ca86808e1268b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708198862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708198854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708198870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708198887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708198897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708198878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,864.2,500.0>? 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 probability."
            }
        ]
    },
    {
        "id": "2755560e05784e5cbc76619793d36e86_6e11c44b6ce24840957ca86808e1268b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708198862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708198854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708198870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708198887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708198897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708198878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,864.2,500.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "2755560e05784e5cbc76619793d36e86_6e11c44b6ce24840957ca86808e1268b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708198862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708198854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708198870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708198887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708198897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708198878113.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": "2755560e05784e5cbc76619793d36e86_6e11c44b6ce24840957ca86808e1268b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708198862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708198854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708198870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708198887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708198897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708198878113.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": "ceca737af78440118b7b394a54723454_e364b96bbce54adc81167765ed903e4c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033880912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033880904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033880920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033880937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033880947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033880927893.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 of the ego vehicle, a white sedan to the back of the ego vehicle, and a yellow bicycle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1245.8,572.5>, <c2,CAM_BACK,833.3,520.8>, and <c3,CAM_FRONT,661.7,515.0>."
            }
        ]
    },
    {
        "id": "ceca737af78440118b7b394a54723454_e364b96bbce54adc81167765ed903e4c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033880912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033880904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033880920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033880937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033880947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033880927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1245.8,572.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ceca737af78440118b7b394a54723454_e364b96bbce54adc81167765ed903e4c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033880912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033880904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033880920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033880937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033880947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033880927893.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 <c1,CAM_FRONT,1245.8,572.5>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c3,CAM_FRONT,661.7,515.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c2,CAM_BACK,833.3,520.8>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "ceca737af78440118b7b394a54723454_e364b96bbce54adc81167765ed903e4c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033880912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033880904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033880920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033880937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033880947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033880927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1245.8,572.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ceca737af78440118b7b394a54723454_e364b96bbce54adc81167765ed903e4c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033880912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033880904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033880920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033880937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033880947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033880927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1245.8,572.5>? 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": "ceca737af78440118b7b394a54723454_e364b96bbce54adc81167765ed903e4c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033880912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033880904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033880920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033880937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033880947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033880927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1245.8,572.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "ceca737af78440118b7b394a54723454_e364b96bbce54adc81167765ed903e4c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033880912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033880904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033880920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033880937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033880947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033880927893.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": "Accelerate and go ahead, keeping the same speed, are safe actions for the ego vehicle."
            }
        ]
    },
    {
        "id": "ceca737af78440118b7b394a54723454_e364b96bbce54adc81167765ed903e4c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033880912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033880904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033880920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033880937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033880947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033880927893.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": "9eaabad9385b4fe1b9f397edead326ac_ba5e38e2e11448588ca3276c3ef6b60b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115304412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115304404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115304420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115304437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115304447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115304427893.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 black car to the front left of the ego vehicle, a white sedan to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,599.2,535.0>, <c2,CAM_FRONT_LEFT,1170.0,675.1>, <c3,CAM_FRONT,1443.3,495.0>, and <c4,CAM_FRONT,123.3,580.0>."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_ba5e38e2e11448588ca3276c3ef6b60b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115304412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115304404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115304420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115304437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115304447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115304427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,599.2,535.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_ba5e38e2e11448588ca3276c3ef6b60b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115304412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115304404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115304420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115304437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115304447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115304427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,599.2,535.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_ba5e38e2e11448588ca3276c3ef6b60b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115304412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115304404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115304420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115304437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115304447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115304427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,599.2,535.0>? 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": "9eaabad9385b4fe1b9f397edead326ac_ba5e38e2e11448588ca3276c3ef6b60b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115304412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115304404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115304420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115304437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115304447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115304427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,599.2,535.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_ba5e38e2e11448588ca3276c3ef6b60b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115304412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115304404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115304420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115304437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115304447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115304427893.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": "9eaabad9385b4fe1b9f397edead326ac_ba5e38e2e11448588ca3276c3ef6b60b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115304412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115304404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115304420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115304437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115304447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115304427893.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": "9eaabad9385b4fe1b9f397edead326ac_47f47fbab98a46639ee3a0366d8b8fef_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115300512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115300504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115300520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115300537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115300547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115300527893.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 front of the ego vehicle, a black SUV to the front of the ego vehicle, a white sedan to the front of the ego vehicle, and a t-junction, slow down to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1099.2,629.2>, <c2,CAM_FRONT,275.0,585.0>, <c3,CAM_FRONT,1307.5,481.7>, and <c4,CAM_BACK_RIGHT,1376.5,497.2>."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_47f47fbab98a46639ee3a0366d8b8fef_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115300512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115300504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115300520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115300537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115300547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115300527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1099.2,629.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_47f47fbab98a46639ee3a0366d8b8fef_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115300512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115300504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115300520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115300537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115300547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115300527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1099.2,629.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_47f47fbab98a46639ee3a0366d8b8fef_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115300512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115300504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115300520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115300537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115300547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115300527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1099.2,629.2>? 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 that there is no safety issue. The probability of taking this action is high."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_47f47fbab98a46639ee3a0366d8b8fef_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115300512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115300504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115300520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115300537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115300547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115300527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1099.2,629.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_47f47fbab98a46639ee3a0366d8b8fef_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115300512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115300504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115300520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115300537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115300547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115300527893.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 suddenly, brake gently to a stop, slightly offset to the left, and back up."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_47f47fbab98a46639ee3a0366d8b8fef_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115300512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115300504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115300520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115300537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115300547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115300527893.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": "9eaabad9385b4fe1b9f397edead326ac_4e1883f8bb754dc4b11bc570370b3021_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115298512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115298504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115298520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115298537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115298547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115298527893.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 front of the ego vehicle, a black SUV to the front of the ego vehicle, a white sedan to the front of the ego vehicle, and a t-shaped intersection sign to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,750.8,527.5>, <c2,CAM_FRONT,322.2,591.6>, <c3,CAM_FRONT,1223.3,478.3>, and <c4,CAM_BACK_RIGHT,1380.0,482.9>."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_4e1883f8bb754dc4b11bc570370b3021_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115298512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115298504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115298520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115298537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115298547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115298527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,750.8,527.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_4e1883f8bb754dc4b11bc570370b3021_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115298512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115298504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115298520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115298537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115298547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115298527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,750.8,527.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_4e1883f8bb754dc4b11bc570370b3021_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115298512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115298504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115298520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115298537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115298547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115298527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,750.8,527.5>? 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": "9eaabad9385b4fe1b9f397edead326ac_4e1883f8bb754dc4b11bc570370b3021_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115298512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115298504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115298520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115298537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115298547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115298527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,750.8,527.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_4e1883f8bb754dc4b11bc570370b3021_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115298512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115298504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115298520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115298537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115298547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115298527893.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, brake suddenly, or back up."
            }
        ]
    },
    {
        "id": "9eaabad9385b4fe1b9f397edead326ac_4e1883f8bb754dc4b11bc570370b3021_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115298512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115298504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115298520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115298537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115298547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115298527893.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": "798e8504b4364d378270333a349ef508_fb04d801ac16498388430bf66d8ec48f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402051162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402051154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402051170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402051187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402051197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402051177893.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 left of the ego vehicle, a blue tricycle to the back of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,672.2,572.9>, <c2,CAM_BACK,1258.3,639.2>, and <c3,CAM_FRONT,716.8,337.8>."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_fb04d801ac16498388430bf66d8ec48f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402051162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402051154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402051170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402051187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402051197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402051177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,1258.3,639.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_fb04d801ac16498388430bf66d8ec48f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402051162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402051154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402051170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402051187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402051197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402051177893.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 <c3,CAM_FRONT,716.8,337.8>. The object is a traffic sign, so the ego vehicle should not enter. Secondly, notice <c1,CAM_FRONT_LEFT,672.2,572.9>. The object is stationary, so the ego vehicle should remain stationary. Thirdly, notice <c2,CAM_BACK,1258.3,639.2>. The object is moving ahead, so the ego vehicle should remain stationary."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_fb04d801ac16498388430bf66d8ec48f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402051162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402051154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402051170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402051187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402051197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402051177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,672.2,572.9> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_fb04d801ac16498388430bf66d8ec48f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402051162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402051154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402051170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402051187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402051197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402051177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,672.2,572.9>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary, the reason is to follow the traffic rules, high."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_fb04d801ac16498388430bf66d8ec48f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402051162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402051154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402051170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402051187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402051197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402051177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,672.2,572.9>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_fb04d801ac16498388430bf66d8ec48f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402051162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402051154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402051170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402051187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402051197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402051177893.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 stop."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_fb04d801ac16498388430bf66d8ec48f_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402051162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402051154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402051170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402051187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402051197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402051177893.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": "798e8504b4364d378270333a349ef508_53a9dd587380402ab51fb929f7eeb18d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402053662755.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402053654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402053670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402053687607.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402053697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402053677893.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 truck to the front of the ego vehicle, a white sedan car to the front of the ego vehicle, a blue tricycle to the back of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,789.2,507.5>, <c2,CAM_FRONT,165.8,500.8>, <c3,CAM_BACK,1406.8,670.1>, and <c4,CAM_FRONT,730.1,344.1>."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_53a9dd587380402ab51fb929f7eeb18d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402053662755.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402053654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402053670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402053687607.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402053697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402053677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,789.2,507.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_53a9dd587380402ab51fb929f7eeb18d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402053662755.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402053654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402053670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402053687607.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402053697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402053677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,789.2,507.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_53a9dd587380402ab51fb929f7eeb18d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402053662755.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402053654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402053670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402053687607.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402053697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402053677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,789.2,507.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_53a9dd587380402ab51fb929f7eeb18d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402053662755.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402053654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402053670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402053687607.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402053697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402053677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,789.2,507.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight actions can lead to a collision with <c1,CAM_FRONT,789.2,507.5>."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_53a9dd587380402ab51fb929f7eeb18d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402053662755.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402053654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402053670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402053687607.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402053697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402053677893.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, brake suddenly."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_53a9dd587380402ab51fb929f7eeb18d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402053662755.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402053654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402053670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402053687607.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402053697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402053677893.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": "798e8504b4364d378270333a349ef508_164353442084444991643f97a148df91_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402059762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402059754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402059770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402059787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402059797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402059777893.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 blue tricycle to the back of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,172.5,502.5>, <c2,CAM_BACK,1422.5,666.7>, and <c3,CAM_FRONT,711.1,346.5>."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_164353442084444991643f97a148df91_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402059762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402059754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402059770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402059787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402059797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402059777893.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 <c3,CAM_FRONT,711.1,346.5>. The object is a traffic sign, so the ego vehicle should remain stationary. Secondly, notice <c1,CAM_FRONT,172.5,502.5>. The object is stationary, so the ego vehicle should remain stationary. Thirdly, notice <c2,CAM_BACK,1422.5,666.7>. The object is stationary, so the ego vehicle should remain stationary."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_164353442084444991643f97a148df91_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402059762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402059754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402059770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402059787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402059797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402059777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,172.5,502.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_164353442084444991643f97a148df91_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402059762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402059754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402059770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402059787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402059797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402059777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,172.5,502.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that the object has little reference value for the ego vehicle, and the probability of taking this action is high."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_164353442084444991643f97a148df91_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402059762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402059754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402059770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402059787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402059797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402059777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,172.5,502.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_164353442084444991643f97a148df91_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402059762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402059754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402059770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402059787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402059797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402059777893.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 stop."
            }
        ]
    },
    {
        "id": "798e8504b4364d378270333a349ef508_164353442084444991643f97a148df91_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402059762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402059754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402059770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402059787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402059797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402059777893.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": "bd916d78cb3149999182fb3ce4eb8a8d_8ed4d06e494a48c89fde78e2c960510d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033985162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033985154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033985170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033985187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033985197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033985177893.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 trash can to the front left of the ego vehicle, a trash bin to the back left of the ego vehicle, and a trash can to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1285.0,620.0>, <c2,CAM_FRONT_LEFT,661.8,747.7>, <c3,CAM_BACK_LEFT,198.2,630.7>, and <c4,CAM_BACK,976.4,580.6>."
            }
        ]
    },
    {
        "id": "bd916d78cb3149999182fb3ce4eb8a8d_8ed4d06e494a48c89fde78e2c960510d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033985162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033985154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033985170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033985187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033985197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033985177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1285.0,620.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bd916d78cb3149999182fb3ce4eb8a8d_8ed4d06e494a48c89fde78e2c960510d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033985162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033985154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033985170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033985187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033985197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033985177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1285.0,620.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bd916d78cb3149999182fb3ce4eb8a8d_8ed4d06e494a48c89fde78e2c960510d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033985162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033985154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033985170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033985187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033985197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033985177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1285.0,620.0>? 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 probability."
            }
        ]
    },
    {
        "id": "bd916d78cb3149999182fb3ce4eb8a8d_8ed4d06e494a48c89fde78e2c960510d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033985162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033985154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033985170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033985187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033985197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033985177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1285.0,620.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "bd916d78cb3149999182fb3ce4eb8a8d_8ed4d06e494a48c89fde78e2c960510d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033985162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033985154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033985170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033985187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033985197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033985177893.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": "bd916d78cb3149999182fb3ce4eb8a8d_8ed4d06e494a48c89fde78e2c960510d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033985162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033985154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033985170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033985187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033985197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033985177893.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": "bd916d78cb3149999182fb3ce4eb8a8d_d58a04cfa87842aeb603a1b13ba0cb06_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033990112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033990104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033990120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033990137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033990147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033990127893.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 person wearing a black top to the back of the ego vehicle, and a person wearing a white shirt to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1330.8,511.7>, <c2,CAM_BACK,1190.8,550.8>, and <c3,CAM_BACK,250.8,562.5>."
            }
        ]
    },
    {
        "id": "bd916d78cb3149999182fb3ce4eb8a8d_d58a04cfa87842aeb603a1b13ba0cb06_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033990112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033990104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033990120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033990137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033990147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033990127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1330.8,511.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bd916d78cb3149999182fb3ce4eb8a8d_d58a04cfa87842aeb603a1b13ba0cb06_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033990112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033990104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033990120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033990137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033990147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033990127893.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 <c1,CAM_FRONT,1330.8,511.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_BACK,1190.8,550.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,250.8,562.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "bd916d78cb3149999182fb3ce4eb8a8d_d58a04cfa87842aeb603a1b13ba0cb06_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033990112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033990104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033990120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033990137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033990147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033990127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1330.8,511.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bd916d78cb3149999182fb3ce4eb8a8d_d58a04cfa87842aeb603a1b13ba0cb06_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033990112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033990104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033990120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033990137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033990147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033990127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1330.8,511.7>? 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": "bd916d78cb3149999182fb3ce4eb8a8d_d58a04cfa87842aeb603a1b13ba0cb06_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033990112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033990104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033990120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033990137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033990147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033990127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1330.8,511.7>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "bd916d78cb3149999182fb3ce4eb8a8d_d58a04cfa87842aeb603a1b13ba0cb06_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033990112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033990104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033990120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033990137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033990147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033990127893.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "bd916d78cb3149999182fb3ce4eb8a8d_d58a04cfa87842aeb603a1b13ba0cb06_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033990112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033990104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033990120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033990137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033990147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033990127893.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 fast."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_50c3b553806141cfbc2b8a0de1dff8e2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115184512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115184504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115184520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115184537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115184547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115184527893.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 woman with a red hat to the front of the ego vehicle, a black SUV to the back of the ego vehicle, a red traffic cone to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1079.2,586.7>, <c2,CAM_BACK,820.9,623.5>, <c3,CAM_FRONT,839.2,640.0>, and <c4,CAM_FRONT,501.7,475.0>."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_50c3b553806141cfbc2b8a0de1dff8e2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115184512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115184504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115184520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115184537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115184547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115184527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1079.2,586.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_50c3b553806141cfbc2b8a0de1dff8e2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115184512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115184504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115184520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115184537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115184547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115184527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1079.2,586.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_50c3b553806141cfbc2b8a0de1dff8e2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115184512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115184504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115184520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115184537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115184547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115184527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1079.2,586.7>? 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": "73d9a36f20594e658020ebfc5b0ba74a_50c3b553806141cfbc2b8a0de1dff8e2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115184512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115184504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115184520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115184537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115184547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115184527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1079.2,586.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_50c3b553806141cfbc2b8a0de1dff8e2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115184512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115184504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115184520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115184537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115184547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115184527893.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, brake suddenly, slightly offset to the left, turn left."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_50c3b553806141cfbc2b8a0de1dff8e2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115184512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115184504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115184520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115184537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115184547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115184527893.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": "73d9a36f20594e658020ebfc5b0ba74a_7ec8bef693eb41b48c9090d5bd677f18_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115197612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115197604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115197620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115197637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115197647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115197627893.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 yellow roadblock to the front of the ego vehicle, a white truck to the back of the ego vehicle, and a yellow bicycle to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,810.0,540.8>, <c2,CAM_FRONT,112.5,633.3>, <c3,CAM_BACK,367.5,520.0>, and <c4,CAM_FRONT_LEFT,1115.0,615.0>."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_7ec8bef693eb41b48c9090d5bd677f18_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115197612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115197604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115197620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115197637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115197647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115197627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,810.0,540.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_7ec8bef693eb41b48c9090d5bd677f18_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115197612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115197604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115197620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115197637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115197647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115197627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,810.0,540.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_7ec8bef693eb41b48c9090d5bd677f18_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115197612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115197604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115197620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115197637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115197647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115197627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,810.0,540.8>? 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": "73d9a36f20594e658020ebfc5b0ba74a_7ec8bef693eb41b48c9090d5bd677f18_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115197612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115197604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115197620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115197637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115197647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115197627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,810.0,540.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_7ec8bef693eb41b48c9090d5bd677f18_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115197612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115197604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115197620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115197637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115197647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115197627893.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": "73d9a36f20594e658020ebfc5b0ba74a_7ec8bef693eb41b48c9090d5bd677f18_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115197612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115197604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115197620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115197637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115197647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115197627893.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": "73d9a36f20594e658020ebfc5b0ba74a_f83b36af5480400ebb34ff567c2e4f07_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115189362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115189354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115189370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115189387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115189397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115189377893.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 with an orange hat to the front right of the ego vehicle, a black car to the back of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1055.0,742.0>, <c2,CAM_BACK,884.0,615.3>, and <c3,CAM_FRONT,1319.2,521.7>."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_f83b36af5480400ebb34ff567c2e4f07_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115189362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115189354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115189370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115189387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115189397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115189377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,884.0,615.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_f83b36af5480400ebb34ff567c2e4f07_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115189362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115189354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115189370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115189387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115189397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115189377893.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 <c3,CAM_FRONT,1319.2,521.7>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_RIGHT,1055.0,742.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,884.0,615.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_f83b36af5480400ebb34ff567c2e4f07_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115189362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115189354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115189370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115189387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115189397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115189377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1055.0,742.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_f83b36af5480400ebb34ff567c2e4f07_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115189362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115189354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115189370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115189387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115189397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115189377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1055.0,742.0>? 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 probability."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_f83b36af5480400ebb34ff567c2e4f07_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115189362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115189354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115189370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115189387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115189397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115189377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1055.0,742.0>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_f83b36af5480400ebb34ff567c2e4f07_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115189362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115189354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115189370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115189387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115189397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115189377893.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."
            }
        ]
    },
    {
        "id": "73d9a36f20594e658020ebfc5b0ba74a_f83b36af5480400ebb34ff567c2e4f07_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115189362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115189354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115189370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115189387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115189397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115189377893.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": "1fa63d31aaa7459383b4414715cd12db_6e59667ed0ff4f0a9af107f9659f62df_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107690912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107690904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107690920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107690937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107690947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107690927893.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 blue truck to the front right of the ego vehicle, and a road sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1160.0,653.3>, <c2,CAM_FRONT_RIGHT,124.2,565.0>, and <c3,CAM_FRONT,1019.7,456.3>."
            }
        ]
    },
    {
        "id": "1fa63d31aaa7459383b4414715cd12db_6e59667ed0ff4f0a9af107f9659f62df_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107690912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107690904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107690920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107690937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107690947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107690927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,124.2,565.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1fa63d31aaa7459383b4414715cd12db_6e59667ed0ff4f0a9af107f9659f62df_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107690912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107690904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107690920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107690937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107690947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107690927893.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 <c2,CAM_FRONT_RIGHT,124.2,565.0>. It is going ahead, so the ego vehicle should remain stationary. Secondly, notice <c3,CAM_FRONT,1019.7,456.3>. It is a traffic sign, so the ego vehicle should remain stationary. Thirdly, notice <c1,CAM_BACK,1160.0,653.3>. It is stationary, so the ego vehicle should remain stationary."
            }
        ]
    },
    {
        "id": "1fa63d31aaa7459383b4414715cd12db_6e59667ed0ff4f0a9af107f9659f62df_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107690912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107690904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107690920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107690937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107690947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107690927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1160.0,653.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1fa63d31aaa7459383b4414715cd12db_6e59667ed0ff4f0a9af107f9659f62df_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107690912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107690904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107690920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107690937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107690947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107690927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1160.0,653.3>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "1fa63d31aaa7459383b4414715cd12db_6e59667ed0ff4f0a9af107f9659f62df_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107690912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107690904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107690920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107690937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107690947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107690927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1160.0,653.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "1fa63d31aaa7459383b4414715cd12db_6e59667ed0ff4f0a9af107f9659f62df_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107690912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107690904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107690920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107690937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107690947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107690927893.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 slightly offset to the right."
            }
        ]
    },
    {
        "id": "1fa63d31aaa7459383b4414715cd12db_6e59667ed0ff4f0a9af107f9659f62df_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107690912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107690904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107690920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107690937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107690947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107690927893.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": "a25d763258dc4526b52759b3ddaad7ec_3a95aadc74c84eee941bf8296fee3bae_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488289112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488289104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488289120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488289137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488289147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488289128113.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 blue shirt to the front right of the ego vehicle, a gray pickup truck 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, and a gray sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1474.2,518.3>, <c2,CAM_BACK,750.8,535.0>, <c3,CAM_FRONT,476.7,528.3>, <c4,CAM_FRONT_LEFT,407.5,780.0>, and <c5,CAM_FRONT_LEFT,1317.5,585.0>."
            }
        ]
    },
    {
        "id": "a25d763258dc4526b52759b3ddaad7ec_3a95aadc74c84eee941bf8296fee3bae_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488289112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488289104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488289120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488289137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488289147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488289128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,750.8,535.0>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "a25d763258dc4526b52759b3ddaad7ec_3a95aadc74c84eee941bf8296fee3bae_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488289112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488289104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488289120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488289137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488289147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488289128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1474.2,518.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a25d763258dc4526b52759b3ddaad7ec_3a95aadc74c84eee941bf8296fee3bae_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488289112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488289104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488289120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488289137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488289147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488289128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1474.2,518.3>? 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 there is no safety issue, high."
            }
        ]
    },
    {
        "id": "a25d763258dc4526b52759b3ddaad7ec_3a95aadc74c84eee941bf8296fee3bae_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488289112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488289104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488289120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488289137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488289147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488289128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1474.2,518.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "a25d763258dc4526b52759b3ddaad7ec_3a95aadc74c84eee941bf8296fee3bae_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488289112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488289104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488289120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488289137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488289147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488289128113.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, slightly offset to the right."
            }
        ]
    },
    {
        "id": "a25d763258dc4526b52759b3ddaad7ec_3a95aadc74c84eee941bf8296fee3bae_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488289112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488289104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488289120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488289137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488289147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488289128113.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": "3673601f263947fd9259640bd55622bd_551fafebecad4a93900ce21d1b2b7a6b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573863862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573863854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573863870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573863887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573863897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573863878113.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 black sedan to the back of the ego vehicle, a black sedan to the back right of the ego vehicle, a black SUV to the front right of the ego vehicle, a white SUV to the front left of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,678.3,520.8>, <c2,CAM_BACK,796.7,668.3>, <c3,CAM_BACK_RIGHT,422.5,679.2>, <c4,CAM_FRONT_RIGHT,83.3,547.5>, <c5,CAM_FRONT_LEFT,1551.7,580.0>, and <c6,CAM_FRONT,823.3,324.7>."
            }
        ]
    },
    {
        "id": "3673601f263947fd9259640bd55622bd_551fafebecad4a93900ce21d1b2b7a6b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573863862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573863854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573863870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573863887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573863897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573863878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,678.3,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "3673601f263947fd9259640bd55622bd_551fafebecad4a93900ce21d1b2b7a6b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573863862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573863854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573863870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573863887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573863897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573863878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,678.3,520.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3673601f263947fd9259640bd55622bd_551fafebecad4a93900ce21d1b2b7a6b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573863862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573863854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573863870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573863887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573863897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573863878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,678.3,520.8>? 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. The probability of this action is high."
            }
        ]
    },
    {
        "id": "3673601f263947fd9259640bd55622bd_551fafebecad4a93900ce21d1b2b7a6b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573863862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573863854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573863870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573863887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573863897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573863878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,678.3,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "3673601f263947fd9259640bd55622bd_551fafebecad4a93900ce21d1b2b7a6b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573863862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573863854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573863870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573863887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573863897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573863878113.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_551fafebecad4a93900ce21d1b2b7a6b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573863862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573863854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573863870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573863887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573863897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573863878113.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_2b54e4b016e146cebd2865d8723c64e9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573879912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573879904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573879920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573879937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573879947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573879928113.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 sedan to the back right of the ego vehicle, a black sedan to the front of the ego vehicle, a black sedan to the front right of the ego vehicle, a pedestrian wearing black clothes to the front right of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,796.7,665.8>, <c2,CAM_BACK_RIGHT,1367.5,640.0>, <c3,CAM_FRONT,522.5,510.8>, <c4,CAM_FRONT_RIGHT,875.6,578.8>, <c5,CAM_FRONT_RIGHT,563.3,505.8>, and <c6,CAM_FRONT,814.7,328.6>."
            }
        ]
    },
    {
        "id": "3673601f263947fd9259640bd55622bd_2b54e4b016e146cebd2865d8723c64e9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573879912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573879904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573879920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573879937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573879947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573879928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,796.7,665.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3673601f263947fd9259640bd55622bd_2b54e4b016e146cebd2865d8723c64e9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573879912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573879904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573879920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573879937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573879947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573879928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,796.7,665.8>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "3673601f263947fd9259640bd55622bd_2b54e4b016e146cebd2865d8723c64e9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573879912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573879904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573879920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573879937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573879947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573879928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,796.7,665.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "3673601f263947fd9259640bd55622bd_2b54e4b016e146cebd2865d8723c64e9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573879912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573879904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573879920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573879937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573879947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573879928113.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 ahead."
            }
        ]
    },
    {
        "id": "3673601f263947fd9259640bd55622bd_2b54e4b016e146cebd2865d8723c64e9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573879912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573879904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573879920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573879937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573879947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573879928113.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": "3673601f263947fd9259640bd55622bd_e27dd8aa352d48fc8dde2d4d752298ef_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573870912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573870904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573870920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573870937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573870947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573870928113.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 SUV to the back right of the ego vehicle, a black car to the front of the ego vehicle, a black 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 <c1,CAM_BACK,796.7,668.3>, <c2,CAM_BACK_RIGHT,1369.2,639.2>, <c3,CAM_FRONT,522.5,511.7>, <c4,CAM_FRONT_RIGHT,898.2,643.3>, and <c5,CAM_FRONT,819.6,326.1>."
            }
        ]
    },
    {
        "id": "3673601f263947fd9259640bd55622bd_e27dd8aa352d48fc8dde2d4d752298ef_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573870912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573870904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573870920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573870937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573870947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573870928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,796.7,668.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3673601f263947fd9259640bd55622bd_e27dd8aa352d48fc8dde2d4d752298ef_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573870912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573870904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573870920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573870937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573870947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573870928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,796.7,668.3>? 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": "3673601f263947fd9259640bd55622bd_e27dd8aa352d48fc8dde2d4d752298ef_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573870912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573870904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573870920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573870937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573870947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573870928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,796.7,668.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "3673601f263947fd9259640bd55622bd_e27dd8aa352d48fc8dde2d4d752298ef_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573870912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573870904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573870920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573870937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573870947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573870928113.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": "3673601f263947fd9259640bd55622bd_e27dd8aa352d48fc8dde2d4d752298ef_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573870912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573870904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573870920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573870937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573870947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573870928113.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": "6946bd49ebe648b7a8c4555774059bc8_9b1da0c8c95c4800b7bb71c4bf2a8295_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290910912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290910904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290910920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290910937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290910947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290910928113.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 to the front right of the ego vehicle, a black car to the back of the ego vehicle, a black SUV to the back of the ego vehicle, a silver business car to the front right of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,781.7,619.2>, <c2,CAM_BACK,737.5,631.7>, <c3,CAM_BACK,720.8,521.7>, <c4,CAM_FRONT_RIGHT,500.8,510.8>, and <c5,CAM_FRONT,969.2,310.0>."
            }
        ]
    },
    {
        "id": "6946bd49ebe648b7a8c4555774059bc8_9b1da0c8c95c4800b7bb71c4bf2a8295_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290910912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290910904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290910920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290910937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290910947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290910928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,781.7,619.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "6946bd49ebe648b7a8c4555774059bc8_9b1da0c8c95c4800b7bb71c4bf2a8295_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290910912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290910904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290910920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290910937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290910947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290910928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,781.7,619.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6946bd49ebe648b7a8c4555774059bc8_9b1da0c8c95c4800b7bb71c4bf2a8295_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290910912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290910904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290910920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290910937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290910947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290910928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,781.7,619.2>? 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": "6946bd49ebe648b7a8c4555774059bc8_9b1da0c8c95c4800b7bb71c4bf2a8295_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290910912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290910904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290910920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290910937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290910947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290910928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,781.7,619.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "6946bd49ebe648b7a8c4555774059bc8_9b1da0c8c95c4800b7bb71c4bf2a8295_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290910912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290910904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290910920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290910937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290910947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290910928113.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; brake gently to a stop."
            }
        ]
    },
    {
        "id": "6946bd49ebe648b7a8c4555774059bc8_9b1da0c8c95c4800b7bb71c4bf2a8295_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290910912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290910904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290910920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290910937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290910947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290910928113.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 slowly."
            }
        ]
    },
    {
        "id": "6946bd49ebe648b7a8c4555774059bc8_b7bb6f1bb71b4f6492a0054dc7264444_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290914862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290914854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290914870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290914887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290914897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290914878113.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 front right of the ego vehicle, a black car to the back of the ego vehicle, a grey commercial vehicle to the front of the ego vehicle, a gray SUV to the front of the ego vehicle, and a green light to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,549.2,597.5>, <c2,CAM_BACK,657.5,570.8>, <c3,CAM_FRONT,625.8,610.8>, <c4,CAM_FRONT,1210.0,535.8>, and <c5,CAM_FRONT_LEFT,687.5,156.1>."
            }
        ]
    },
    {
        "id": "6946bd49ebe648b7a8c4555774059bc8_b7bb6f1bb71b4f6492a0054dc7264444_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290914862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290914854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290914870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290914887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290914897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290914878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,549.2,597.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6946bd49ebe648b7a8c4555774059bc8_b7bb6f1bb71b4f6492a0054dc7264444_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290914862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290914854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290914870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290914887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290914897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290914878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,549.2,597.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6946bd49ebe648b7a8c4555774059bc8_b7bb6f1bb71b4f6492a0054dc7264444_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290914862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290914854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290914870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290914887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290914897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290914878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,549.2,597.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is to avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "6946bd49ebe648b7a8c4555774059bc8_b7bb6f1bb71b4f6492a0054dc7264444_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290914862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290914854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290914870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290914887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290914897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290914878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,549.2,597.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "6946bd49ebe648b7a8c4555774059bc8_b7bb6f1bb71b4f6492a0054dc7264444_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290914862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290914854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290914870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290914887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290914897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290914878113.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, turn right are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "6946bd49ebe648b7a8c4555774059bc8_b7bb6f1bb71b4f6492a0054dc7264444_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290914862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290914854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290914870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290914887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290914897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290914878113.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": "1623e7fab5174f2a84cf1b539233e3a6_021fe3dfd6554cffb439538942767ac7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656632662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656632654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656632670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656632687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656632697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656632678113.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 black sedan to the back of the ego vehicle, and a black SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,415.8,531.7>, <c2,CAM_BACK,797.5,658.3>, and <c3,CAM_FRONT_LEFT,1192.5,535.0>."
            }
        ]
    },
    {
        "id": "1623e7fab5174f2a84cf1b539233e3a6_021fe3dfd6554cffb439538942767ac7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656632662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656632654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656632670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656632687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656632697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656632678113.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 <c2,CAM_BACK,797.5,658.3>. The object is stationary, so the ego vehicle should turn right. Secondly, notice <c3,CAM_FRONT_LEFT,1192.5,535.0>. The object is stationary, so the ego vehicle should turn right. Thirdly, notice <c1,CAM_FRONT,415.8,531.7>. The object is stationary, so the ego vehicle should turn right."
            }
        ]
    },
    {
        "id": "1623e7fab5174f2a84cf1b539233e3a6_021fe3dfd6554cffb439538942767ac7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656632662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656632654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656632670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656632687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656632697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656632678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,415.8,531.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1623e7fab5174f2a84cf1b539233e3a6_021fe3dfd6554cffb439538942767ac7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656632662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656632654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656632670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656632687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656632697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656632678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,415.8,531.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "1623e7fab5174f2a84cf1b539233e3a6_021fe3dfd6554cffb439538942767ac7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656632662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656632654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656632670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656632687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656632697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656632678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,797.5,658.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "1623e7fab5174f2a84cf1b539233e3a6_021fe3dfd6554cffb439538942767ac7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656632662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656632654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656632670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656632687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656632697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656632678113.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, slightly offset to the right, and turn right."
            }
        ]
    },
    {
        "id": "1623e7fab5174f2a84cf1b539233e3a6_021fe3dfd6554cffb439538942767ac7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656632662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656632654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656632670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656632687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656632697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656632678113.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": "1623e7fab5174f2a84cf1b539233e3a6_cd9ae4ce75334ff7a85806467b9a166f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656627662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656627654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656627670988.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656627687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656627697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656627678113.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 truck to the front of the ego vehicle, a black SUV to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, and a black small car to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,616.3,410.8>, <c2,CAM_FRONT,1141.7,485.0>, <c3,CAM_BACK,801.7,655.0>, and <c4,CAM_FRONT_LEFT,1193.3,537.5>."
            }
        ]
    },
    {
        "id": "1623e7fab5174f2a84cf1b539233e3a6_cd9ae4ce75334ff7a85806467b9a166f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656627662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656627654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656627670988.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656627687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656627697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656627678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,616.3,410.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1623e7fab5174f2a84cf1b539233e3a6_cd9ae4ce75334ff7a85806467b9a166f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656627662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656627654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656627670988.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656627687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656627697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656627678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,616.3,410.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1623e7fab5174f2a84cf1b539233e3a6_cd9ae4ce75334ff7a85806467b9a166f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656627662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656627654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656627670988.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656627687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656627697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656627678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,616.3,410.8>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "1623e7fab5174f2a84cf1b539233e3a6_cd9ae4ce75334ff7a85806467b9a166f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656627662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656627654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656627670988.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656627687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656627697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656627678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,616.3,410.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,616.3,410.8>."
            }
        ]
    },
    {
        "id": "1623e7fab5174f2a84cf1b539233e3a6_cd9ae4ce75334ff7a85806467b9a166f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656627662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656627654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656627670988.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656627687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656627697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656627678113.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, and brake gently to a stop."
            }
        ]
    },
    {
        "id": "1623e7fab5174f2a84cf1b539233e3a6_cd9ae4ce75334ff7a85806467b9a166f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656627662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656627654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656627670988.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656627687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656627697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656627678113.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": "cc8c0bf57f984915a77078b10eb33198_e0845f5322254dafadbbed75aaa07969_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402929162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402929154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402929170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402929187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402929197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402929177893.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 business car to the front of the ego vehicle, a yellow truck to the front left of the ego vehicle, a person wearing red clothes to the back left of the ego vehicle, a silver sedan to the front of the ego vehicle, a person wearing red clothes to the front left of the ego vehicle, and a white commercial vehicle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1193.3,507.5>, <c2,CAM_FRONT_LEFT,792.4,441.9>, <c3,CAM_BACK_LEFT,1052.6,260.6>, <c4,CAM_FRONT,974.2,486.7>, <c5,CAM_FRONT_LEFT,1402.3,634.3>, and <c6,CAM_FRONT,752.5,490.8>."
            }
        ]
    },
    {
        "id": "cc8c0bf57f984915a77078b10eb33198_e0845f5322254dafadbbed75aaa07969_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402929162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402929154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402929170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402929187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402929197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402929177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1193.3,507.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cc8c0bf57f984915a77078b10eb33198_e0845f5322254dafadbbed75aaa07969_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402929162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402929154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402929170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402929187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402929197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402929177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1193.3,507.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cc8c0bf57f984915a77078b10eb33198_e0845f5322254dafadbbed75aaa07969_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402929162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402929154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402929170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402929187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402929197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402929177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1193.3,507.5>? 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": "cc8c0bf57f984915a77078b10eb33198_e0845f5322254dafadbbed75aaa07969_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402929162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402929154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402929170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402929187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402929197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402929177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,792.4,441.9>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "cc8c0bf57f984915a77078b10eb33198_e0845f5322254dafadbbed75aaa07969_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402929162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402929154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402929170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402929187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402929197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402929177893.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 right, decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "cc8c0bf57f984915a77078b10eb33198_e0845f5322254dafadbbed75aaa07969_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402929162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402929154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402929170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402929187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402929197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402929177893.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": "cc8c0bf57f984915a77078b10eb33198_88449a5cb1644a199c1c11f6ac034867_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402935662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402935654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402935670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402935687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402935697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402935677893.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 truck to the back of the ego vehicle, a man wearing blue clothes to the front left of the ego vehicle, a man wearing white clothes to the front left of the ego vehicle, an orange construction truck to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1227.5,470.8>, <c2,CAM_FRONT_LEFT,1154.2,525.8>, <c3,CAM_FRONT_LEFT,369.2,457.5>, <c4,CAM_FRONT,770.8,448.3>, and <c5,CAM_FRONT,344.4,499.2>."
            }
        ]
    },
    {
        "id": "cc8c0bf57f984915a77078b10eb33198_88449a5cb1644a199c1c11f6ac034867_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402935662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402935654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402935670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402935687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402935697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402935677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT_LEFT,369.2,457.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cc8c0bf57f984915a77078b10eb33198_88449a5cb1644a199c1c11f6ac034867_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402935662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402935654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402935670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402935687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402935697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402935677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1227.5,470.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cc8c0bf57f984915a77078b10eb33198_88449a5cb1644a199c1c11f6ac034867_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402935662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402935654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402935670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402935687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402935697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402935677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1227.5,470.8>? 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": "cc8c0bf57f984915a77078b10eb33198_88449a5cb1644a199c1c11f6ac034867_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402935662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402935654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402935670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402935687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402935697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402935677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1227.5,470.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "cc8c0bf57f984915a77078b10eb33198_88449a5cb1644a199c1c11f6ac034867_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402935662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402935654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402935670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402935687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402935697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402935677893.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": "cc8c0bf57f984915a77078b10eb33198_88449a5cb1644a199c1c11f6ac034867_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402935662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402935654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402935670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402935687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402935697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402935677893.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": "aa45d94630be481787f20121ce89a605_c4d74ebd68924876bf0331fdc501bed4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582775162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582775154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582775170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582775187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582775197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582775178113.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 back of the ego vehicle, a black pickup truck to the front right of the ego vehicle, a white sedan to the front right of the ego vehicle, a detour roadblock to the front of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,489.2,557.5>, <c2,CAM_FRONT_RIGHT,113.3,587.5>, <c3,CAM_FRONT_RIGHT,1041.7,664.3>, <c4,CAM_FRONT,920.0,501.7>, and <c5,CAM_FRONT,1250.8,514.2>."
            }
        ]
    },
    {
        "id": "aa45d94630be481787f20121ce89a605_c4d74ebd68924876bf0331fdc501bed4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582775162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582775154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582775170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582775187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582775197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582775178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,489.2,557.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "aa45d94630be481787f20121ce89a605_c4d74ebd68924876bf0331fdc501bed4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582775162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582775154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582775170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582775187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582775197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582775178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,489.2,557.5>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "aa45d94630be481787f20121ce89a605_c4d74ebd68924876bf0331fdc501bed4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582775162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582775154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582775170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582775187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582775197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582775178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,113.3,587.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "aa45d94630be481787f20121ce89a605_c4d74ebd68924876bf0331fdc501bed4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582775162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582775154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582775170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582775187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582775197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582775178113.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, or brake gently to a stop."
            }
        ]
    },
    {
        "id": "aa45d94630be481787f20121ce89a605_c4d74ebd68924876bf0331fdc501bed4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582775162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582775154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582775170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582775187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582775197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582775178113.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_605df31bb70543bb8e77b4867a2a3be4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582784162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582784154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582784170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582784187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582784197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582784178113.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 SUV to the front of the ego vehicle, a black SUV to the front of the ego vehicle, and a vehicles slow down to give way to pedestrians to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,908.3,485.0>, <c2,CAM_FRONT,765.5,495.8>, <c3,CAM_FRONT,659.1,493.0>, and <c4,CAM_FRONT,619.3,804.9>."
            }
        ]
    },
    {
        "id": "aa45d94630be481787f20121ce89a605_605df31bb70543bb8e77b4867a2a3be4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582784162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582784154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582784170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582784187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582784197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582784178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,765.5,495.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "aa45d94630be481787f20121ce89a605_605df31bb70543bb8e77b4867a2a3be4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582784162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582784154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582784170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582784187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582784197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582784178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,908.3,485.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "aa45d94630be481787f20121ce89a605_605df31bb70543bb8e77b4867a2a3be4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582784162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582784154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582784170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582784187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582784197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582784178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,908.3,485.0>? 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": "aa45d94630be481787f20121ce89a605_605df31bb70543bb8e77b4867a2a3be4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582784162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582784154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582784170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582784187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582784197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582784178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,908.3,485.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "aa45d94630be481787f20121ce89a605_605df31bb70543bb8e77b4867a2a3be4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582784162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582784154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582784170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582784187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582784197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582784178113.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": "aa45d94630be481787f20121ce89a605_605df31bb70543bb8e77b4867a2a3be4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582784162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582784154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582784170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582784187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582784197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582784178113.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": "c075fbdd97124beaba95bc5c25149f30_17e2c5b3278046ed8b0dfb81871c851a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884533412464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884533404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884533420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884533437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884533447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884533427893.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 small car to the front of the ego vehicle, a worker to the front of the ego vehicle, a worker to the front of the ego vehicle, a white truck to the front of the ego vehicle, and a white truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1040.0,501.7>, <c2,CAM_FRONT,780.0,505.8>, <c3,CAM_FRONT,515.0,547.6>, <c4,CAM_FRONT,662.5,532.5>, <c5,CAM_FRONT,657.8,484.2>, and <c6,CAM_FRONT_LEFT,1587.4,556.4>."
            }
        ]
    },
    {
        "id": "c075fbdd97124beaba95bc5c25149f30_17e2c5b3278046ed8b0dfb81871c851a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884533412464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884533404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884533420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884533437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884533447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884533427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,780.0,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c075fbdd97124beaba95bc5c25149f30_17e2c5b3278046ed8b0dfb81871c851a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884533412464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884533404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884533420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884533437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884533447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884533427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1040.0,501.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c075fbdd97124beaba95bc5c25149f30_17e2c5b3278046ed8b0dfb81871c851a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884533412464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884533404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884533420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884533437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884533447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884533427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1040.0,501.7>? 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 low probability."
            }
        ]
    },
    {
        "id": "c075fbdd97124beaba95bc5c25149f30_17e2c5b3278046ed8b0dfb81871c851a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884533412464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884533404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884533420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884533437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884533447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884533427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1040.0,501.7>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "c075fbdd97124beaba95bc5c25149f30_17e2c5b3278046ed8b0dfb81871c851a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884533412464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884533404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884533420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884533437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884533447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884533427893.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": "c075fbdd97124beaba95bc5c25149f30_17e2c5b3278046ed8b0dfb81871c851a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884533412464.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884533404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884533420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884533437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884533447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884533427893.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": "c075fbdd97124beaba95bc5c25149f30_c50fb8dc4c044423ae0798d854102d71_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884527412467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884527404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884527420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884527437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884527447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884527427893.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 truck to the front of the ego vehicle, and a white small car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,304.6,440.7>, <c2,CAM_FRONT,612.1,493.7>, and <c3,CAM_FRONT,537.6,506.7>."
            }
        ]
    },
    {
        "id": "c075fbdd97124beaba95bc5c25149f30_c50fb8dc4c044423ae0798d854102d71_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884527412467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884527404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884527420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884527437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884527447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884527427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,537.6,506.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c075fbdd97124beaba95bc5c25149f30_c50fb8dc4c044423ae0798d854102d71_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884527412467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884527404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884527420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884527437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884527447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884527427893.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 <c1,CAM_FRONT,304.6,440.7>. The object is stationary, so the ego vehicle should change to the right lane. Secondly, notice <c3,CAM_FRONT,537.6,506.7>. The object is going ahead, so the ego vehicle should accelerate and go ahead. Thirdly, notice <c2,CAM_FRONT,612.1,493.7>. The object is stationary, so the ego vehicle should slow down and go ahead."
            }
        ]
    },
    {
        "id": "c075fbdd97124beaba95bc5c25149f30_c50fb8dc4c044423ae0798d854102d71_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884527412467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884527404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884527420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884527437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884527447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884527427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,304.6,440.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c075fbdd97124beaba95bc5c25149f30_c50fb8dc4c044423ae0798d854102d71_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884527412467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884527404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884527420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884527437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884527447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884527427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,304.6,440.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to change to the right lane. The reason is to avoid a collision, which is high in probability."
            }
        ]
    },
    {
        "id": "c075fbdd97124beaba95bc5c25149f30_c50fb8dc4c044423ae0798d854102d71_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884527412467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884527404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884527420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884527437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884527447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884527427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,304.6,440.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "c075fbdd97124beaba95bc5c25149f30_c50fb8dc4c044423ae0798d854102d71_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884527412467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884527404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884527420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884527437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884527447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884527427893.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": "Change to the right lane, turn right, and decelerate gradually without braking are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "c075fbdd97124beaba95bc5c25149f30_c50fb8dc4c044423ae0798d854102d71_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884527412467.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884527404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884527420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884527437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884527447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884527427893.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": "8d8728879b89405eba3f8ce1af138cb2_f5f2c621f7154f1ebf8c642ed32cd82c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798715612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798715604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798715620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798715637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798715647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798715627893.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 small car to the front of the ego vehicle, a silver white small sedan to the front of the ego vehicle, a black small car to the back left of the ego vehicle, a silver white small sedan to the front of the ego vehicle, a person riding a motorcycle to the back of the ego vehicle, and a black SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1414.2,512.5>, <c2,CAM_FRONT,846.7,678.3>, <c3,CAM_BACK_LEFT,1216.6,688.3>, <c4,CAM_FRONT,305.0,607.5>, <c5,CAM_BACK,536.7,683.3>, and <c6,CAM_BACK,877.5,599.2>."
            }
        ]
    },
    {
        "id": "8d8728879b89405eba3f8ce1af138cb2_f5f2c621f7154f1ebf8c642ed32cd82c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798715612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798715604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798715620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798715637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798715647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798715627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1414.2,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "8d8728879b89405eba3f8ce1af138cb2_f5f2c621f7154f1ebf8c642ed32cd82c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798715612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798715604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798715620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798715637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798715647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798715627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1414.2,512.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8d8728879b89405eba3f8ce1af138cb2_f5f2c621f7154f1ebf8c642ed32cd82c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798715612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798715604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798715620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798715637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798715647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798715627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1414.2,512.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary, the reason being that there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "8d8728879b89405eba3f8ce1af138cb2_f5f2c621f7154f1ebf8c642ed32cd82c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798715612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798715604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798715620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798715637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798715647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798715627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1414.2,512.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "8d8728879b89405eba3f8ce1af138cb2_f5f2c621f7154f1ebf8c642ed32cd82c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798715612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798715604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798715620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798715637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798715647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798715627893.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": "8d8728879b89405eba3f8ce1af138cb2_f5f2c621f7154f1ebf8c642ed32cd82c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798715612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798715604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798715620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798715637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798715647434.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798715627893.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": "4284a8d9b40d42edb9725543db91381e_81bb51133a85471cbf2949c6b279b65a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.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 traffic police wearing black pants to the front right of the ego vehicle, a gray sedan to the front right of the ego vehicle, a silver sedan to the back left of the ego vehicle, a white SUV to the front of the ego vehicle, and a white truck to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1335.0,600.8>, <c2,CAM_FRONT_RIGHT,360.0,555.8>, <c3,CAM_BACK_LEFT,1225.8,571.7>, <c4,CAM_FRONT,1147.5,496.7>, and <c5,CAM_BACK_RIGHT,954.2,464.2>."
            }
        ]
    },
    {
        "id": "4284a8d9b40d42edb9725543db91381e_81bb51133a85471cbf2949c6b279b65a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,1335.0,600.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4284a8d9b40d42edb9725543db91381e_81bb51133a85471cbf2949c6b279b65a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1335.0,600.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4284a8d9b40d42edb9725543db91381e_81bb51133a85471cbf2949c6b279b65a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1335.0,600.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn left, the reason is to avoid a collision with the vehicle detected by the front right camera at a distance of 1335.0 meters and a relative speed of 600.8 m/s, and the probability of taking this action is high."
            }
        ]
    },
    {
        "id": "4284a8d9b40d42edb9725543db91381e_81bb51133a85471cbf2949c6b279b65a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,360.0,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c2,CAM_FRONT_RIGHT,360.0,555.8>."
            }
        ]
    },
    {
        "id": "4284a8d9b40d42edb9725543db91381e_81bb51133a85471cbf2949c6b279b65a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.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, turn left, and decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "4284a8d9b40d42edb9725543db91381e_81bb51133a85471cbf2949c6b279b65a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.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": "4284a8d9b40d42edb9725543db91381e_4b8fecb08034451ba48ba8fd9d6664cb_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728842012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728842004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728842020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728842037561.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728842047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728842028113.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 and white sedan to the front right of the ego vehicle, a black and white sedan to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a white short-sleeved elderly person to the front of the ego vehicle, and a blue short-sleeved elderly person to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,204.2,638.3>, <c2,CAM_FRONT,759.2,480.0>, <c3,CAM_BACK,866.7,496.7>, <c4,CAM_FRONT,1370.8,576.7>, and <c5,CAM_FRONT,1365.0,520.0>."
            }
        ]
    },
    {
        "id": "4284a8d9b40d42edb9725543db91381e_4b8fecb08034451ba48ba8fd9d6664cb_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728842012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728842004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728842020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728842037561.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728842047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728842028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,759.2,480.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4284a8d9b40d42edb9725543db91381e_4b8fecb08034451ba48ba8fd9d6664cb_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728842012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728842004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728842020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728842037561.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728842047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728842028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,204.2,638.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4284a8d9b40d42edb9725543db91381e_4b8fecb08034451ba48ba8fd9d6664cb_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728842012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728842004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728842020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728842037561.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728842047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728842028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,204.2,638.3>? 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": "4284a8d9b40d42edb9725543db91381e_4b8fecb08034451ba48ba8fd9d6664cb_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728842012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728842004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728842020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728842037561.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728842047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728842028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,204.2,638.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "4284a8d9b40d42edb9725543db91381e_4b8fecb08034451ba48ba8fd9d6664cb_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728842012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728842004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728842020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728842037561.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728842047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728842028113.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": "4284a8d9b40d42edb9725543db91381e_4b8fecb08034451ba48ba8fd9d6664cb_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728842012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728842004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728842020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728842037561.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728842047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728842028113.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": "087c6e521e974c708d49cac1db095691_6711d2f7f4534f2d8d88c096aa633869_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299531862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299531854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299531870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299531887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299531897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299531878113.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 car to the back of the ego vehicle, a unable to see clearly to the front of the ego vehicle, and a yellow traffic sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,840.0,503.3>, <c2,CAM_FRONT,981.7,479.2>, and <c3,CAM_FRONT,1194.3,443.4>."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_6711d2f7f4534f2d8d88c096aa633869_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299531862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299531854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299531870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299531887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299531897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299531878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,840.0,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_6711d2f7f4534f2d8d88c096aa633869_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299531862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299531854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299531870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299531887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299531897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299531878113.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 <c3,CAM_FRONT,1194.3,443.4>. The state of the object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,981.7,479.2>. The state of the object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,840.0,503.3>. The state of the object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_6711d2f7f4534f2d8d88c096aa633869_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299531862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299531854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299531870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299531887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299531897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299531878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,840.0,503.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_6711d2f7f4534f2d8d88c096aa633869_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299531862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299531854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299531870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299531887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299531897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299531878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,840.0,503.3>? 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": "087c6e521e974c708d49cac1db095691_6711d2f7f4534f2d8d88c096aa633869_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299531862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299531854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299531870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299531887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299531897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299531878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,840.0,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_6711d2f7f4534f2d8d88c096aa633869_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299531862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299531854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299531870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299531887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299531897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299531878113.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": "087c6e521e974c708d49cac1db095691_6711d2f7f4534f2d8d88c096aa633869_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299531862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299531854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299531870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299531887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299531897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299531878113.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": "087c6e521e974c708d49cac1db095691_486e9fac608f4511892395e9d34eb868_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299540412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299540404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299540420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299540437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299540447461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299540428113.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 SUV to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a blue SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,919.2,481.7>, <c2,CAM_BACK,856.7,514.2>, and <c3,CAM_FRONT,845.0,487.5>."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_486e9fac608f4511892395e9d34eb868_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299540412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299540404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299540420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299540437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299540447461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299540428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,856.7,514.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_486e9fac608f4511892395e9d34eb868_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299540412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299540404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299540420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299540437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299540447461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299540428113.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 <c2,CAM_BACK,856.7,514.2>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly notice that <c3,CAM_FRONT,845.0,487.5>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly notice that <c1,CAM_FRONT,919.2,481.7>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_486e9fac608f4511892395e9d34eb868_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299540412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299540404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299540420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299540437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299540447461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299540428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,919.2,481.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_486e9fac608f4511892395e9d34eb868_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299540412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299540404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299540420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299540437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299540447461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299540428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,919.2,481.7>? 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": "087c6e521e974c708d49cac1db095691_486e9fac608f4511892395e9d34eb868_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299540412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299540404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299540420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299540437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299540447461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299540428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,919.2,481.7>?"
            },
            {
                "from": "gpt",
                "value": "Change to the right lane."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_486e9fac608f4511892395e9d34eb868_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299540412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299540404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299540420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299540437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299540447461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299540428113.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, and brake gently to a stop are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_486e9fac608f4511892395e9d34eb868_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299540412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299540404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299540420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299540437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299540447461.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299540428113.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": "087c6e521e974c708d49cac1db095691_de13a023e4eb45ca9db3d6e91a1295b6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299527362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299527354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299527370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299527387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299527397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299527378113.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 traffic cone to the front of the ego vehicle, a black small sedan car to the back of the ego vehicle, a black small car to the back of the ego vehicle, a white compact car to the front of the ego vehicle, and a black pickup truck to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,92.5,668.3>, <c2,CAM_BACK,830.8,487.5>, <c3,CAM_BACK,875.0,482.5>, <c4,CAM_FRONT,1086.7,501.7>, and <c5,CAM_FRONT_RIGHT,843.3,495.8>."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_de13a023e4eb45ca9db3d6e91a1295b6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299527362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299527354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299527370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299527387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299527397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299527378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,830.8,487.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_de13a023e4eb45ca9db3d6e91a1295b6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299527362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299527354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299527370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299527387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299527397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299527378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,92.5,668.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_de13a023e4eb45ca9db3d6e91a1295b6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299527362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299527354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299527370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299527387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299527397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299527378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_BACK,830.8,487.5>? 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": "087c6e521e974c708d49cac1db095691_de13a023e4eb45ca9db3d6e91a1295b6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299527362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299527354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299527370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299527387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299527397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299527378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,830.8,487.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_de13a023e4eb45ca9db3d6e91a1295b6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299527362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299527354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299527370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299527387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299527397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299527378113.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, accelerate, and proceed."
            }
        ]
    },
    {
        "id": "087c6e521e974c708d49cac1db095691_de13a023e4eb45ca9db3d6e91a1295b6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299527362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299527354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299527370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299527387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299527397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299527378113.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": "6bb64043c9db4f51b7a69e7260ed4f6e_cb8f72fe75f3486884c279b09415d82a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107908912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107908904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107908920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107908937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107908947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107908927907.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 white sedan car to the front of the ego vehicle, a white van to the back left of the ego vehicle, and a white bus to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,800.0,539.2>, <c2,CAM_FRONT,691.7,524.2>, <c3,CAM_BACK_LEFT,385.0,395.0>, and <c4,CAM_FRONT,983.0,457.5>."
            }
        ]
    },
    {
        "id": "6bb64043c9db4f51b7a69e7260ed4f6e_cb8f72fe75f3486884c279b09415d82a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107908912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107908904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107908920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107908937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107908947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107908927907.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,800.0,539.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6bb64043c9db4f51b7a69e7260ed4f6e_cb8f72fe75f3486884c279b09415d82a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107908912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107908904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107908920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107908937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107908947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107908927907.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,800.0,539.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6bb64043c9db4f51b7a69e7260ed4f6e_cb8f72fe75f3486884c279b09415d82a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107908912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107908904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107908920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107908937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107908947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107908927907.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,800.0,539.2>? 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": "6bb64043c9db4f51b7a69e7260ed4f6e_cb8f72fe75f3486884c279b09415d82a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107908912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107908904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107908920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107908937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107908947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107908927907.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,800.0,539.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "6bb64043c9db4f51b7a69e7260ed4f6e_cb8f72fe75f3486884c279b09415d82a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107908912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107908904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107908920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107908937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107908947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107908927907.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, brake gently to a stop, or decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "6bb64043c9db4f51b7a69e7260ed4f6e_cb8f72fe75f3486884c279b09415d82a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107908912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107908904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107908920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107908937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107908947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107908927907.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": "6bb64043c9db4f51b7a69e7260ed4f6e_5115d45f9e5e4d91a66b5b0e80fdacab_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107910912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107910904855.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107910920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107910937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107910947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107910927893.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 back of the ego vehicle, a white sedan to the front of the ego vehicle, and a white bus to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,947.5,535.0>, <c2,CAM_FRONT,970.8,560.0>, and <c3,CAM_FRONT_RIGHT,593.3,482.1>."
            }
        ]
    },
    {
        "id": "6bb64043c9db4f51b7a69e7260ed4f6e_5115d45f9e5e4d91a66b5b0e80fdacab_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107910912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107910904855.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107910920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107910937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107910947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107910927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,947.5,535.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6bb64043c9db4f51b7a69e7260ed4f6e_5115d45f9e5e4d91a66b5b0e80fdacab_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107910912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107910904855.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107910920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107910937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107910947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107910927893.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 <c2,CAM_FRONT,970.8,560.0>. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice <c1,CAM_BACK,947.5,535.0>. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c3,CAM_FRONT_RIGHT,593.3,482.1>. It is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "6bb64043c9db4f51b7a69e7260ed4f6e_5115d45f9e5e4d91a66b5b0e80fdacab_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107910912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107910904855.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107910920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107910937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107910947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107910927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,947.5,535.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6bb64043c9db4f51b7a69e7260ed4f6e_5115d45f9e5e4d91a66b5b0e80fdacab_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107910912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107910904855.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107910920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107910937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107910947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107910927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,947.5,535.0>? 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": "6bb64043c9db4f51b7a69e7260ed4f6e_5115d45f9e5e4d91a66b5b0e80fdacab_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107910912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107910904855.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107910920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107910937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107910947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107910927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,947.5,535.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "6bb64043c9db4f51b7a69e7260ed4f6e_5115d45f9e5e4d91a66b5b0e80fdacab_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107910912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107910904855.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107910920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107910937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107910947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107910927893.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, <or> decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "6bb64043c9db4f51b7a69e7260ed4f6e_5115d45f9e5e4d91a66b5b0e80fdacab_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107910912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107910904855.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107910920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107910937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107910947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107910927893.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": "3469d30a6e2a4d878fb0ff899346b7de_011b8e758330400dbdf16d55c8a3571a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.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 sedan to the front of the ego vehicle, a silver SUV to the back of the ego vehicle, a person in a wheelchair to the front right of the ego vehicle, and a yield to pedestrians to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,933.3,470.8>, <c2,CAM_FRONT,854.2,481.7>, <c3,CAM_BACK,856.7,516.7>, <c4,CAM_FRONT_RIGHT,113.6,703.5>, and <c5,CAM_FRONT,1315.5,471.8>."
            }
        ]
    },
    {
        "id": "3469d30a6e2a4d878fb0ff899346b7de_011b8e758330400dbdf16d55c8a3571a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,933.3,470.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3469d30a6e2a4d878fb0ff899346b7de_011b8e758330400dbdf16d55c8a3571a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,933.3,470.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3469d30a6e2a4d878fb0ff899346b7de_011b8e758330400dbdf16d55c8a3571a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,933.3,470.8>? 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": "3469d30a6e2a4d878fb0ff899346b7de_011b8e758330400dbdf16d55c8a3571a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,933.3,470.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,933.3,470.8>."
            }
        ]
    },
    {
        "id": "3469d30a6e2a4d878fb0ff899346b7de_011b8e758330400dbdf16d55c8a3571a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.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, decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "3469d30a6e2a4d878fb0ff899346b7de_011b8e758330400dbdf16d55c8a3571a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.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": "3469d30a6e2a4d878fb0ff899346b7de_879e6e426a7d4dee84bc47d77c2bed91_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488034162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488034154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488034170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488034187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488034197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488034178113.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 white sedan to the front of the ego vehicle, a silver SUV to the back of the ego vehicle, and a yellow and black traffic sign to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,821.7,490.0>, <c2,CAM_FRONT,735.0,497.5>, <c3,CAM_BACK,785.8,491.7>, and <c4,CAM_BACK,491.7,463.2>."
            }
        ]
    },
    {
        "id": "3469d30a6e2a4d878fb0ff899346b7de_879e6e426a7d4dee84bc47d77c2bed91_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488034162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488034154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488034170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488034187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488034197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488034178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,785.8,491.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3469d30a6e2a4d878fb0ff899346b7de_879e6e426a7d4dee84bc47d77c2bed91_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488034162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488034154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488034170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488034187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488034197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488034178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,821.7,490.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3469d30a6e2a4d878fb0ff899346b7de_879e6e426a7d4dee84bc47d77c2bed91_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488034162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488034154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488034170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488034187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488034197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488034178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,821.7,490.0>? 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": "3469d30a6e2a4d878fb0ff899346b7de_879e6e426a7d4dee84bc47d77c2bed91_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488034162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488034154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488034170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488034187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488034197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488034178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,821.7,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "3469d30a6e2a4d878fb0ff899346b7de_879e6e426a7d4dee84bc47d77c2bed91_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488034162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488034154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488034170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488034187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488034197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488034178113.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 left lane."
            }
        ]
    },
    {
        "id": "3469d30a6e2a4d878fb0ff899346b7de_879e6e426a7d4dee84bc47d77c2bed91_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488034162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488034154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488034170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488034187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488034197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488034178113.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": "40a2faa275fe4b9bb7412259485bb46e_3e04c5acb68243e390b840846a512ec4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296943262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296943254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296943270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296943287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296943297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296943278113.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 sedan to the front of the ego vehicle, and a black sedan car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,63.3,591.7>, <c2,CAM_FRONT,954.2,501.7>, and <c3,CAM_FRONT,771.7,503.3>."
            }
        ]
    },
    {
        "id": "40a2faa275fe4b9bb7412259485bb46e_3e04c5acb68243e390b840846a512ec4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296943262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296943254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296943270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296943287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296943297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296943278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,63.3,591.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "40a2faa275fe4b9bb7412259485bb46e_3e04c5acb68243e390b840846a512ec4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296943262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296943254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296943270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296943287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296943297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296943278113.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 <c1,CAM_FRONT,63.3,591.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,954.2,501.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,771.7,503.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "40a2faa275fe4b9bb7412259485bb46e_3e04c5acb68243e390b840846a512ec4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296943262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296943254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296943270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296943287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296943297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296943278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,63.3,591.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "40a2faa275fe4b9bb7412259485bb46e_3e04c5acb68243e390b840846a512ec4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296943262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296943254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296943270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296943287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296943297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296943278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,63.3,591.7>? 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": "40a2faa275fe4b9bb7412259485bb46e_3e04c5acb68243e390b840846a512ec4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296943262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296943254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296943270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296943287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296943297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296943278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,63.3,591.7>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "40a2faa275fe4b9bb7412259485bb46e_3e04c5acb68243e390b840846a512ec4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296943262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296943254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296943270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296943287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296943297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296943278113.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 right, and change to the right lane."
            }
        ]
    },
    {
        "id": "40a2faa275fe4b9bb7412259485bb46e_3e04c5acb68243e390b840846a512ec4_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296943262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296943254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296943270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296943287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296943297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296943278113.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": "cb3ef7b7ef124983b336c781f134cdfb_71aa010c521d4eeb9845d8d587ed68dc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112701762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112701754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112701770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112701787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112701797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112701777893.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 brown car to the back of the ego vehicle, a gray truck to the front of the ego vehicle, and a white left turn landmark to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,134.2,529.2>, <c2,CAM_FRONT,278.3,490.8>, and <c3,CAM_FRONT,819.4,572.4>."
            }
        ]
    },
    {
        "id": "cb3ef7b7ef124983b336c781f134cdfb_71aa010c521d4eeb9845d8d587ed68dc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112701762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112701754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112701770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112701787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112701797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112701777893.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 <c2,CAM_FRONT,278.3,490.8>. It is stationary, so the ego vehicle should slightly offset to the right in maneuvering. Secondly, notice <c3,CAM_FRONT,819.4,572.4>. It is stationary, so the ego vehicle should turn left. Thirdly, notice <c1,CAM_BACK,134.2,529.2>. It is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "cb3ef7b7ef124983b336c781f134cdfb_71aa010c521d4eeb9845d8d587ed68dc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112701762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112701754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112701770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112701787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112701797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112701777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,134.2,529.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cb3ef7b7ef124983b336c781f134cdfb_71aa010c521d4eeb9845d8d587ed68dc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112701762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112701754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112701770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112701787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112701797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112701777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,134.2,529.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep going at the same speed because the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "cb3ef7b7ef124983b336c781f134cdfb_71aa010c521d4eeb9845d8d587ed68dc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112701762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112701754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112701770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112701787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112701797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112701777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,134.2,529.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "cb3ef7b7ef124983b336c781f134cdfb_71aa010c521d4eeb9845d8d587ed68dc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112701762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112701754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112701770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112701787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112701797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112701777893.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": "cb3ef7b7ef124983b336c781f134cdfb_71aa010c521d4eeb9845d8d587ed68dc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112701762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112701754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112701770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112701787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112701797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112701777893.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": "cb3ef7b7ef124983b336c781f134cdfb_7c36879f3ba04809976c39fd03a8a01c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112710162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112710154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112710170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112710187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112710197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112710177893.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 walking person to the front left of the ego vehicle, a white sedan to the front right of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,459.2,513.3>, <c2,CAM_FRONT_RIGHT,1180.8,685.8>, and <c3,CAM_BACK,845.8,499.2>."
            }
        ]
    },
    {
        "id": "cb3ef7b7ef124983b336c781f134cdfb_7c36879f3ba04809976c39fd03a8a01c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112710162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112710154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112710170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112710187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112710197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112710177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,459.2,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cb3ef7b7ef124983b336c781f134cdfb_7c36879f3ba04809976c39fd03a8a01c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112710162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112710154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112710170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112710187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112710197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112710177893.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 <c1,CAM_FRONT_LEFT,459.2,513.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice <c2,CAM_FRONT_RIGHT,1180.8,685.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c3,CAM_BACK,845.8,499.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "cb3ef7b7ef124983b336c781f134cdfb_7c36879f3ba04809976c39fd03a8a01c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112710162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112710154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112710170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112710187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112710197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112710177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,459.2,513.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cb3ef7b7ef124983b336c781f134cdfb_7c36879f3ba04809976c39fd03a8a01c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112710162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112710154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112710170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112710187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112710197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112710177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,459.2,513.3>? 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": "cb3ef7b7ef124983b336c781f134cdfb_7c36879f3ba04809976c39fd03a8a01c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112710162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112710154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112710170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112710187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112710197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112710177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,459.2,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "cb3ef7b7ef124983b336c781f134cdfb_7c36879f3ba04809976c39fd03a8a01c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112710162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112710154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112710170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112710187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112710197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112710177893.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 would be the safe action to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "cb3ef7b7ef124983b336c781f134cdfb_7c36879f3ba04809976c39fd03a8a01c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112710162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112710154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112710170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112710187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112710197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112710177893.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": "73030fb67d3c46cfb5e590168088ae39_e84aea79175942398074b3f7f93f7fea_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883545512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883545504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883545520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883545537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883545547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883545527893.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 back of the ego vehicle, a white truck to the front of the ego vehicle, and a white truck to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1079.2,505.0>, <c2,CAM_FRONT,95.9,432.0>, and <c3,CAM_BACK_LEFT,650.8,635.8>."
            }
        ]
    },
    {
        "id": "73030fb67d3c46cfb5e590168088ae39_e84aea79175942398074b3f7f93f7fea_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883545512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883545504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883545520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883545537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883545547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883545527893.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 <c2,CAM_FRONT,95.9,432.0>, it is stationary, so the ego vehicle should slow down and go ahead. Secondly notice that <c3,CAM_BACK_LEFT,650.8,635.8>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c1,CAM_BACK,1079.2,505.0>, it is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "73030fb67d3c46cfb5e590168088ae39_e84aea79175942398074b3f7f93f7fea_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883545512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883545504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883545520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883545537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883545547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883545527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1079.2,505.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "73030fb67d3c46cfb5e590168088ae39_e84aea79175942398074b3f7f93f7fea_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883545512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883545504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883545520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883545537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883545547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883545527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1079.2,505.0>? 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 taking this action is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "73030fb67d3c46cfb5e590168088ae39_e84aea79175942398074b3f7f93f7fea_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883545512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883545504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883545520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883545537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883545547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883545527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,95.9,432.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "73030fb67d3c46cfb5e590168088ae39_e84aea79175942398074b3f7f93f7fea_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883545512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883545504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883545520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883545537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883545547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883545527893.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, change to the right lane, turn right, and decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "73030fb67d3c46cfb5e590168088ae39_e84aea79175942398074b3f7f93f7fea_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883545512466.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883545504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883545520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883545537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883545547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883545527893.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": "73030fb67d3c46cfb5e590168088ae39_c36eb85918a84a788e236f5c9eef2b05_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883536412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883536404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883536420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883536437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883536447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883536427893.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 tanker truck to the back of the ego vehicle, a white truck to the front of the ego vehicle, and a white truck to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,257.0,562.5>, <c2,CAM_FRONT,745.0,473.3>, and <c3,CAM_FRONT_RIGHT,1126.5,477.3>."
            }
        ]
    },
    {
        "id": "73030fb67d3c46cfb5e590168088ae39_c36eb85918a84a788e236f5c9eef2b05_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883536412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883536404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883536420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883536437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883536447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883536427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,257.0,562.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "73030fb67d3c46cfb5e590168088ae39_c36eb85918a84a788e236f5c9eef2b05_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883536412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883536404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883536420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883536437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883536447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883536427893.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": "First, notice <c3,CAM_FRONT_RIGHT,1126.5,477.3>, which is moving forward, so the ego vehicle should decelerate and proceed slowly. Second, notice <c2,CAM_FRONT,745.0,473.3>, which is stationary, so the ego vehicle should slightly veer to the right and bypass. Lastly, notice <c1,CAM_BACK,257.0,562.5>, which is moving forward, so the ego vehicle should maintain a constant speed and proceed straight."
            }
        ]
    },
    {
        "id": "73030fb67d3c46cfb5e590168088ae39_c36eb85918a84a788e236f5c9eef2b05_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883536412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883536404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883536420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883536437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883536447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883536427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,257.0,562.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "73030fb67d3c46cfb5e590168088ae39_c36eb85918a84a788e236f5c9eef2b05_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883536412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883536404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883536420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883536437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883536447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883536427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,257.0,562.5>? 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": "73030fb67d3c46cfb5e590168088ae39_c36eb85918a84a788e236f5c9eef2b05_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883536412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883536404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883536420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883536437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883536447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883536427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,257.0,562.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "73030fb67d3c46cfb5e590168088ae39_c36eb85918a84a788e236f5c9eef2b05_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883536412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883536404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883536420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883536437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883536447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883536427893.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 right, brake gently to a stop, back up, and decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "73030fb67d3c46cfb5e590168088ae39_c36eb85918a84a788e236f5c9eef2b05_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883536412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883536404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883536420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883536437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883536447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883536427893.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": "d58468c6097c425e89671a7b3f480acf_c9824d9ed9134f03a7c9cb37d1a43583_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297451912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297451904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297451920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297451937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297451947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297451929686.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 back of the ego vehicle, a black sedan to the back of the ego vehicle, a black SUV to the back of the ego vehicle, a minimum speed 93 left lane to the front of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1078.3,470.0>, <c2,CAM_BACK,925.8,494.2>, <c3,CAM_BACK,364.2,589.2>, <c4,CAM_FRONT,1319.4,401.2>, and <c5,CAM_FRONT,823.9,119.7>."
            }
        ]
    },
    {
        "id": "d58468c6097c425e89671a7b3f480acf_c9824d9ed9134f03a7c9cb37d1a43583_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297451912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297451904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297451920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297451937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297451947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297451929686.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1078.3,470.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d58468c6097c425e89671a7b3f480acf_c9824d9ed9134f03a7c9cb37d1a43583_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297451912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297451904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297451920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297451937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297451947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297451929686.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1078.3,470.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d58468c6097c425e89671a7b3f480acf_c9824d9ed9134f03a7c9cb37d1a43583_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297451912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297451904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297451920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297451937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297451947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297451929686.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1078.3,470.0>? 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": "d58468c6097c425e89671a7b3f480acf_c9824d9ed9134f03a7c9cb37d1a43583_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297451912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297451904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297451920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297451937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297451947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297451929686.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1078.3,470.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "d58468c6097c425e89671a7b3f480acf_c9824d9ed9134f03a7c9cb37d1a43583_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297451912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297451904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297451920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297451937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297451947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297451929686.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 continue."
            }
        ]
    },
    {
        "id": "d58468c6097c425e89671a7b3f480acf_c9824d9ed9134f03a7c9cb37d1a43583_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297451912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297451904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297451920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297451937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297451947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297451929686.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": "827712f3e79340d8878de0202c5b3960_46b0d90608bf4133a880aefc17ae8f82_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658869012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658869004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658869020512.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658869037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658869047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658869028113.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 black car to the front right of the ego vehicle, a black sedan to the back of the ego vehicle, and a white sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1590.8,643.3>, <c2,CAM_FRONT_RIGHT,878.3,706.2>, <c3,CAM_BACK,748.6,516.0>, and <c4,CAM_BACK_RIGHT,976.7,657.5>."
            }
        ]
    },
    {
        "id": "827712f3e79340d8878de0202c5b3960_46b0d90608bf4133a880aefc17ae8f82_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658869012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658869004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658869020512.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658869037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658869047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658869028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,748.6,516.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "827712f3e79340d8878de0202c5b3960_46b0d90608bf4133a880aefc17ae8f82_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658869012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658869004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658869020512.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658869037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658869047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658869028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1590.8,643.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "827712f3e79340d8878de0202c5b3960_46b0d90608bf4133a880aefc17ae8f82_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658869012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658869004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658869020512.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658869037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658869047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658869028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1590.8,643.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to decelerate gradually without braking because there is no safety issue. The probability of taking this action is high."
            }
        ]
    },
    {
        "id": "827712f3e79340d8878de0202c5b3960_46b0d90608bf4133a880aefc17ae8f82_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658869012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658869004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658869020512.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658869037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658869047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658869028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1590.8,643.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "827712f3e79340d8878de0202c5b3960_46b0d90608bf4133a880aefc17ae8f82_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658869012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658869004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658869020512.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658869037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658869047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658869028113.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": "827712f3e79340d8878de0202c5b3960_46b0d90608bf4133a880aefc17ae8f82_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658869012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658869004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658869020512.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658869037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658869047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658869028113.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": "827712f3e79340d8878de0202c5b3960_18dfa0ff351649f5a76cc7025507304d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658877512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658877504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658877520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658877537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658877547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658877528113.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 right of the ego vehicle, a gray SUV to the front right of the ego vehicle, a black sedan to the back of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1009.0,715.4>, <c2,CAM_FRONT_RIGHT,842.4,631.8>, <c3,CAM_BACK,889.7,525.6>, and <c4,CAM_FRONT,1595.8,655.8>."
            }
        ]
    },
    {
        "id": "827712f3e79340d8878de0202c5b3960_18dfa0ff351649f5a76cc7025507304d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658877512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658877504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658877520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658877537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658877547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658877528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,889.7,525.6>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "827712f3e79340d8878de0202c5b3960_18dfa0ff351649f5a76cc7025507304d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658877512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658877504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658877520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658877537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658877547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658877528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1009.0,715.4> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "827712f3e79340d8878de0202c5b3960_18dfa0ff351649f5a76cc7025507304d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658877512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658877504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658877520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658877537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658877547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658877528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1009.0,715.4>? 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": "827712f3e79340d8878de0202c5b3960_18dfa0ff351649f5a76cc7025507304d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658877512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658877504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658877520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658877537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658877547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658877528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,842.4,631.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "827712f3e79340d8878de0202c5b3960_18dfa0ff351649f5a76cc7025507304d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658877512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658877504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658877520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658877537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658877547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658877528113.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."
            }
        ]
    },
    {
        "id": "827712f3e79340d8878de0202c5b3960_18dfa0ff351649f5a76cc7025507304d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658877512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658877504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658877520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658877537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658877547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658877528113.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": "634e7fbfe29c4a72b1ceb692b1d2ab44_59d42fa919df479fafa71c72099ceadf_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289769412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289769404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289769420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289769437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289769447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289769428113.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 business car to the front right of the ego vehicle, a black small car to the front right of the ego vehicle, and a black small car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,108.3,605.8>, <c2,CAM_FRONT_RIGHT,1144.4,673.0>, and <c3,CAM_BACK,278.5,588.3>."
            }
        ]
    },
    {
        "id": "634e7fbfe29c4a72b1ceb692b1d2ab44_59d42fa919df479fafa71c72099ceadf_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289769412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289769404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289769420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289769437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289769447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289769428113.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 <c1,CAM_FRONT_RIGHT,108.3,605.8>. It is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT_RIGHT,1144.4,673.0>. It is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,278.5,588.3>. It is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "634e7fbfe29c4a72b1ceb692b1d2ab44_59d42fa919df479fafa71c72099ceadf_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289769412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289769404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289769420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289769437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289769447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289769428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,108.3,605.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "634e7fbfe29c4a72b1ceb692b1d2ab44_59d42fa919df479fafa71c72099ceadf_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289769412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289769404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289769420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289769437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289769447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289769428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,108.3,605.8>? 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": "634e7fbfe29c4a72b1ceb692b1d2ab44_59d42fa919df479fafa71c72099ceadf_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289769412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289769404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289769420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289769437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289769447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289769428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,108.3,605.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "634e7fbfe29c4a72b1ceb692b1d2ab44_59d42fa919df479fafa71c72099ceadf_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289769412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289769404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289769420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289769437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289769447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289769428113.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, or decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "634e7fbfe29c4a72b1ceb692b1d2ab44_59d42fa919df479fafa71c72099ceadf_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289769412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289769404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289769420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289769437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289769447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289769428113.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": "261e8288cf5647e396ab584e210e4ba1_e27a262c5d214a5f90d1213d239a641c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985720762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985720754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985720770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985720787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985720797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985720777893.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 roadblock to the front of the ego vehicle, a white sedan to the front of the ego vehicle, and a black sedan car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.0,601.7>, <c2,CAM_FRONT,1560.8,505.0>, and <c3,CAM_FRONT,1489.2,510.0>."
            }
        ]
    },
    {
        "id": "261e8288cf5647e396ab584e210e4ba1_e27a262c5d214a5f90d1213d239a641c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985720762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985720754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985720770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985720787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985720797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985720777893.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 <c1,CAM_FRONT,0.0,601.7>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,1560.8,505.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,1489.2,510.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "261e8288cf5647e396ab584e210e4ba1_e27a262c5d214a5f90d1213d239a641c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985720762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985720754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985720770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985720787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985720797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985720777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,0.0,601.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "261e8288cf5647e396ab584e210e4ba1_e27a262c5d214a5f90d1213d239a641c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985720762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985720754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985720770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985720787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985720797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985720777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_FRONT,1560.8,505.0>? 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": "261e8288cf5647e396ab584e210e4ba1_e27a262c5d214a5f90d1213d239a641c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985720762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985720754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985720770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985720787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985720797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985720777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,1560.8,505.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "261e8288cf5647e396ab584e210e4ba1_e27a262c5d214a5f90d1213d239a641c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985720762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985720754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985720770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985720787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985720797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985720777893.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, brake gently to a stop, decelerate gradually without braking, change to the right lane."
            }
        ]
    },
    {
        "id": "261e8288cf5647e396ab584e210e4ba1_e27a262c5d214a5f90d1213d239a641c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985720762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985720754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985720770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985720787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985720797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985720777893.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": "a8bd4c1efe284a5bba46f59454764965_eace0403aabd4c90971de92932380d99_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293281162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293281154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293281170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293281187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293281197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293281178113.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 left of the ego vehicle, a pedestrian to the front of the ego vehicle, a white sedan to the front of the ego vehicle, and a white van to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1195.9,531.7>, <c2,CAM_FRONT,405.0,534.2>, <c3,CAM_FRONT,760.0,555.0>, and <c4,CAM_FRONT_LEFT,193.3,508.3>."
            }
        ]
    },
    {
        "id": "a8bd4c1efe284a5bba46f59454764965_eace0403aabd4c90971de92932380d99_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293281162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293281154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293281170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293281187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293281197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293281178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,405.0,534.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "a8bd4c1efe284a5bba46f59454764965_eace0403aabd4c90971de92932380d99_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293281162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293281154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293281170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293281187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293281197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293281178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1195.9,531.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a8bd4c1efe284a5bba46f59454764965_eace0403aabd4c90971de92932380d99_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293281162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293281154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293281170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293281187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293281197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293281178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1195.9,531.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to decelerate gradually without braking because there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "a8bd4c1efe284a5bba46f59454764965_eace0403aabd4c90971de92932380d99_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293281162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293281154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293281170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293281187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293281197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293281178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,405.0,534.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "a8bd4c1efe284a5bba46f59454764965_eace0403aabd4c90971de92932380d99_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293281162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293281154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293281170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293281187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293281197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293281178113.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": "a8bd4c1efe284a5bba46f59454764965_eace0403aabd4c90971de92932380d99_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293281162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293281154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293281170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293281187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293281197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293281178113.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": "fc61f52dcc1b4def95a278665d23af00_c5cf9e41ccda4d2783102e9497799caa_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621866162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621866154807.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621866170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621866187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621866197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621866178113.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 front right of the ego vehicle, a person pulling a suitcase to the front left of the ego vehicle, a black sedan to the front right of the ego vehicle, and a white sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1161.7,622.5>, <c2,CAM_FRONT_LEFT,1000.0,535.0>, <c3,CAM_FRONT_RIGHT,819.2,590.0>, and <c4,CAM_BACK_RIGHT,203.3,697.5>."
            }
        ]
    },
    {
        "id": "fc61f52dcc1b4def95a278665d23af00_c5cf9e41ccda4d2783102e9497799caa_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621866162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621866154807.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621866170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621866187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621866197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621866178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,1000.0,535.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fc61f52dcc1b4def95a278665d23af00_c5cf9e41ccda4d2783102e9497799caa_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621866162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621866154807.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621866170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621866187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621866197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621866178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1161.7,622.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fc61f52dcc1b4def95a278665d23af00_c5cf9e41ccda4d2783102e9497799caa_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621866162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621866154807.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621866170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621866187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621866197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621866178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1161.7,622.5>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "fc61f52dcc1b4def95a278665d23af00_c5cf9e41ccda4d2783102e9497799caa_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621866162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621866154807.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621866170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621866187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621866197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621866178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1161.7,622.5>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT_RIGHT,1161.7,622.5>."
            }
        ]
    },
    {
        "id": "fc61f52dcc1b4def95a278665d23af00_c5cf9e41ccda4d2783102e9497799caa_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621866162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621866154807.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621866170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621866187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621866197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621866178113.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": "fc61f52dcc1b4def95a278665d23af00_c5cf9e41ccda4d2783102e9497799caa_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621866162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621866154807.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621866170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621866187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621866197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621866178113.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": "fc61f52dcc1b4def95a278665d23af00_ab67791922df4497b71cae0a51cb4560_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621864662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621864654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621864670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621864687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621864697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621864678113.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 right of the ego vehicle, a white commercial vehicle to the front of the ego vehicle, a dark blue pickup truck to the front right of the ego vehicle, and a white sedan car to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1066.7,630.8>, <c2,CAM_FRONT,60.0,578.3>, <c3,CAM_FRONT_RIGHT,794.2,598.3>, and <c4,CAM_BACK_RIGHT,183.6,675.0>."
            }
        ]
    },
    {
        "id": "fc61f52dcc1b4def95a278665d23af00_ab67791922df4497b71cae0a51cb4560_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621864662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621864654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621864670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621864687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621864697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621864678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,60.0,578.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fc61f52dcc1b4def95a278665d23af00_ab67791922df4497b71cae0a51cb4560_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621864662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621864654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621864670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621864687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621864697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621864678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1066.7,630.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fc61f52dcc1b4def95a278665d23af00_ab67791922df4497b71cae0a51cb4560_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621864662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621864654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621864670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621864687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621864697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621864678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1066.7,630.8>? 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 low."
            }
        ]
    },
    {
        "id": "fc61f52dcc1b4def95a278665d23af00_ab67791922df4497b71cae0a51cb4560_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621864662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621864654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621864670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621864687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621864697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621864678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1066.7,630.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "fc61f52dcc1b4def95a278665d23af00_ab67791922df4497b71cae0a51cb4560_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621864662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621864654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621864670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621864687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621864697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621864678113.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."
            }
        ]
    },
    {
        "id": "fc61f52dcc1b4def95a278665d23af00_ab67791922df4497b71cae0a51cb4560_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621864662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621864654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621864670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621864687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621864697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621864678113.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": "d7823d64ca1a47c5842beb6d7197042d_15b85f9af6ca43428a9344c6bbdec60b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296655612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296655604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296655620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296655637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296655647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296655628113.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 front left of the ego vehicle, a black sedan to the back left of the ego vehicle, a black SUV to the back of the ego vehicle, a white sedan to the front of the ego vehicle, a black sedan to the front right of the ego vehicle, and a zebra crossing to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,888.3,509.2>, <c2,CAM_BACK_LEFT,457.8,523.3>, <c3,CAM_BACK,1298.5,628.3>, <c4,CAM_FRONT,240.8,502.5>, <c5,CAM_FRONT_RIGHT,364.5,502.5>, and <c6,CAM_FRONT_LEFT,1081.4,779.6>."
            }
        ]
    },
    {
        "id": "d7823d64ca1a47c5842beb6d7197042d_15b85f9af6ca43428a9344c6bbdec60b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296655612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296655604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296655620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296655637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296655647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296655628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,1298.5,628.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d7823d64ca1a47c5842beb6d7197042d_15b85f9af6ca43428a9344c6bbdec60b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296655612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296655604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296655620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296655637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296655647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296655628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,888.3,509.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d7823d64ca1a47c5842beb6d7197042d_15b85f9af6ca43428a9344c6bbdec60b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296655612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296655604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296655620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296655637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296655647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296655628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,888.3,509.2>? 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": "d7823d64ca1a47c5842beb6d7197042d_15b85f9af6ca43428a9344c6bbdec60b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296655612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296655604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296655620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296655637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296655647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296655628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,888.3,509.2>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "d7823d64ca1a47c5842beb6d7197042d_15b85f9af6ca43428a9344c6bbdec60b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296655612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296655604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296655620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296655637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296655647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296655628113.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": "d7823d64ca1a47c5842beb6d7197042d_15b85f9af6ca43428a9344c6bbdec60b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296655612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296655604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296655620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296655637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296655647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296655628113.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": "1d25e9071ea94891b5eb7554e77a11bb_0098c6f5924344d9920798df5fbae6b0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656760862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656760854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656760870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656760887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656760897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656760878113.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 SUV to the front of the ego vehicle, a blue sedan to the back of the ego vehicle, a black sedan to the front right of the ego vehicle, and a yellow van to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,885.8,523.3>, <c2,CAM_FRONT,910.0,494.2>, <c3,CAM_BACK,237.5,682.5>, <c4,CAM_FRONT_RIGHT,48.3,668.3>, and <c5,CAM_FRONT,838.3,488.3>."
            }
        ]
    },
    {
        "id": "1d25e9071ea94891b5eb7554e77a11bb_0098c6f5924344d9920798df5fbae6b0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656760862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656760854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656760870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656760887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656760897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656760878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,885.8,523.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1d25e9071ea94891b5eb7554e77a11bb_0098c6f5924344d9920798df5fbae6b0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656760862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656760854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656760870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656760887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656760897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656760878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,885.8,523.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1d25e9071ea94891b5eb7554e77a11bb_0098c6f5924344d9920798df5fbae6b0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656760862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656760854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656760870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656760887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656760897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656760878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,885.8,523.3>? 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": "1d25e9071ea94891b5eb7554e77a11bb_0098c6f5924344d9920798df5fbae6b0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656760862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656760854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656760870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656760887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656760897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656760878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,885.8,523.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "1d25e9071ea94891b5eb7554e77a11bb_0098c6f5924344d9920798df5fbae6b0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656760862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656760854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656760870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656760887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656760897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656760878113.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 stop."
            }
        ]
    },
    {
        "id": "1d25e9071ea94891b5eb7554e77a11bb_0098c6f5924344d9920798df5fbae6b0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656760862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656760854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656760870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656760887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656760897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656760878113.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": "c324de94562d41498a2d4b7d51c5ce78_752f635201a64db38b7838aebf1380d9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621705112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621705104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621705120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621705137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621705147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621705128113.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 car to the front left of the ego vehicle, and a pedestrian wearing black pants to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,861.7,476.7>, <c2,CAM_FRONT_LEFT,578.3,605.8>, and <c3,CAM_FRONT,1326.7,532.5>."
            }
        ]
    },
    {
        "id": "c324de94562d41498a2d4b7d51c5ce78_752f635201a64db38b7838aebf1380d9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621705112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621705104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621705120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621705137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621705147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621705128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,861.7,476.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c324de94562d41498a2d4b7d51c5ce78_752f635201a64db38b7838aebf1380d9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621705112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621705104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621705120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621705137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621705147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621705128113.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 <c3,CAM_FRONT,1326.7,532.5>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c1,CAM_BACK,861.7,476.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c2,CAM_FRONT_LEFT,578.3,605.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "c324de94562d41498a2d4b7d51c5ce78_752f635201a64db38b7838aebf1380d9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621705112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621705104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621705120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621705137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621705147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621705128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,861.7,476.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c324de94562d41498a2d4b7d51c5ce78_752f635201a64db38b7838aebf1380d9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621705112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621705104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621705120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621705137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621705147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621705128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,861.7,476.7>? 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": "c324de94562d41498a2d4b7d51c5ce78_752f635201a64db38b7838aebf1380d9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621705112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621705104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621705120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621705137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621705147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621705128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,861.7,476.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "c324de94562d41498a2d4b7d51c5ce78_752f635201a64db38b7838aebf1380d9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621705112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621705104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621705120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621705137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621705147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621705128113.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": "c324de94562d41498a2d4b7d51c5ce78_752f635201a64db38b7838aebf1380d9_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621705112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621705104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621705120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621705137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621705147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621705128113.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": "c324de94562d41498a2d4b7d51c5ce78_9a19df4a9ed34ad492a46d26fe2dd884_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621696678113.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 green 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 <c1,CAM_BACK,875.8,486.7>, <c2,CAM_BACK,1347.5,492.5>, and <c3,CAM_FRONT,593.3,504.2>."
            }
        ]
    },
    {
        "id": "c324de94562d41498a2d4b7d51c5ce78_9a19df4a9ed34ad492a46d26fe2dd884_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621696678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,875.8,486.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c324de94562d41498a2d4b7d51c5ce78_9a19df4a9ed34ad492a46d26fe2dd884_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621696678113.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 <c3,CAM_FRONT,593.3,504.2>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_BACK,875.8,486.7>. It is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_BACK,1347.5,492.5>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "c324de94562d41498a2d4b7d51c5ce78_9a19df4a9ed34ad492a46d26fe2dd884_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621696678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,875.8,486.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c324de94562d41498a2d4b7d51c5ce78_9a19df4a9ed34ad492a46d26fe2dd884_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621696678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,875.8,486.7>? 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": "c324de94562d41498a2d4b7d51c5ce78_9a19df4a9ed34ad492a46d26fe2dd884_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621696678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,875.8,486.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "c324de94562d41498a2d4b7d51c5ce78_9a19df4a9ed34ad492a46d26fe2dd884_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621696678113.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."
            }
        ]
    },
    {
        "id": "c324de94562d41498a2d4b7d51c5ce78_9a19df4a9ed34ad492a46d26fe2dd884_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621696662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621696654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621696670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621696687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621696697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621696678113.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": "e323a27a0ba94ab5ab11010d778cd41f_59d8bf4287a9406d80adaa841b772585_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487517662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487517654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487517670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487517687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487517697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487517678113.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 right of the ego vehicle, a black car to the front of the ego vehicle, a gray SUV to the back of the ego vehicle, and a black pants pedestrian to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,860.0,520.8>, <c2,CAM_FRONT,635.8,494.2>, <c3,CAM_BACK,832.5,506.7>, and <c4,CAM_FRONT,907.5,497.5>."
            }
        ]
    },
    {
        "id": "e323a27a0ba94ab5ab11010d778cd41f_59d8bf4287a9406d80adaa841b772585_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487517662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487517654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487517670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487517687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487517697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487517678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,635.8,494.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e323a27a0ba94ab5ab11010d778cd41f_59d8bf4287a9406d80adaa841b772585_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487517662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487517654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487517670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487517687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487517697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487517678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,860.0,520.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e323a27a0ba94ab5ab11010d778cd41f_59d8bf4287a9406d80adaa841b772585_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487517662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487517654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487517670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487517687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487517697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487517678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,860.0,520.8>? 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": "e323a27a0ba94ab5ab11010d778cd41f_59d8bf4287a9406d80adaa841b772585_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487517662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487517654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487517670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487517687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487517697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487517678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,860.0,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "e323a27a0ba94ab5ab11010d778cd41f_59d8bf4287a9406d80adaa841b772585_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487517662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487517654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487517670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487517687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487517697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487517678113.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": "e323a27a0ba94ab5ab11010d778cd41f_59d8bf4287a9406d80adaa841b772585_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487517662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487517654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487517670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487517687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487517697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487517678113.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": "9833ac6de5ae418f9e6d0eeb58e72beb_b8388948134c4c7fbd9714ef85297ac0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583362162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583362154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583362170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583362187562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583362197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583362178113.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 front right of the ego vehicle, a black sedan to the front left of the ego vehicle, and a silver sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,764.2,607.5>, <c2,CAM_FRONT_LEFT,285.8,461.7>, and <c3,CAM_BACK_RIGHT,160.5,711.3>."
            }
        ]
    },
    {
        "id": "9833ac6de5ae418f9e6d0eeb58e72beb_b8388948134c4c7fbd9714ef85297ac0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583362162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583362154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583362170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583362187562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583362197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583362178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,285.8,461.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9833ac6de5ae418f9e6d0eeb58e72beb_b8388948134c4c7fbd9714ef85297ac0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583362162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583362154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583362170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583362187562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583362197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583362178113.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 <c2,CAM_FRONT_LEFT,285.8,461.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c1,CAM_FRONT_RIGHT,764.2,607.5>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c3,CAM_BACK_RIGHT,160.5,711.3>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "9833ac6de5ae418f9e6d0eeb58e72beb_b8388948134c4c7fbd9714ef85297ac0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583362162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583362154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583362170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583362187562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583362197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583362178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,764.2,607.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9833ac6de5ae418f9e6d0eeb58e72beb_b8388948134c4c7fbd9714ef85297ac0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583362162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583362154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583362170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583362187562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583362197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583362178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,764.2,607.5>? 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": "9833ac6de5ae418f9e6d0eeb58e72beb_b8388948134c4c7fbd9714ef85297ac0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583362162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583362154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583362170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583362187562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583362197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583362178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,764.2,607.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "9833ac6de5ae418f9e6d0eeb58e72beb_b8388948134c4c7fbd9714ef85297ac0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583362162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583362154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583362170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583362187562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583362197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583362178113.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": "9833ac6de5ae418f9e6d0eeb58e72beb_b8388948134c4c7fbd9714ef85297ac0_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583362162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583362154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583362170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583362187562.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583362197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583362178113.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": "9833ac6de5ae418f9e6d0eeb58e72beb_8eab66c3ac514e97ad4c6ff051a24d97_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583375362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583375354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583375370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583375387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583375397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583375378113.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 left of the ego vehicle, a silver sedan to the back right of the ego vehicle, a silver 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 <c1,CAM_FRONT_LEFT,840.0,511.7>, <c2,CAM_BACK_RIGHT,832.5,573.3>, <c3,CAM_FRONT,600.0,485.0>, and <c4,CAM_FRONT,1255.0,508.3>."
            }
        ]
    },
    {
        "id": "9833ac6de5ae418f9e6d0eeb58e72beb_8eab66c3ac514e97ad4c6ff051a24d97_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583375362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583375354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583375370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583375387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583375397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583375378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,840.0,511.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9833ac6de5ae418f9e6d0eeb58e72beb_8eab66c3ac514e97ad4c6ff051a24d97_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583375362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583375354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583375370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583375387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583375397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583375378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,840.0,511.7>? 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": "9833ac6de5ae418f9e6d0eeb58e72beb_8eab66c3ac514e97ad4c6ff051a24d97_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583375362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583375354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583375370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583375387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583375397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583375378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,840.0,511.7>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "9833ac6de5ae418f9e6d0eeb58e72beb_8eab66c3ac514e97ad4c6ff051a24d97_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583375362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583375354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583375370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583375387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583375397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583375378113.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": "9833ac6de5ae418f9e6d0eeb58e72beb_8eab66c3ac514e97ad4c6ff051a24d97_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583375362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583375354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583375370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583375387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583375397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583375378113.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": "aad7d3bf3c7a47ad9cb93d9b92ed38ee_a0ba38bcbffd46df971b683f37350e83_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708173012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708173004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708173020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708173037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708173047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708173028113.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 SUV to the front of the ego vehicle, a gray SUV to the back right of the ego vehicle, a black SUV to the front right of the ego vehicle, a black SUV to the back of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1418.3,555.0>, <c2,CAM_BACK_RIGHT,828.1,618.6>, <c3,CAM_FRONT_RIGHT,474.2,624.2>, <c4,CAM_BACK,851.7,513.3>, and <c5,CAM_FRONT,777.5,490.8>."
            }
        ]
    },
    {
        "id": "aad7d3bf3c7a47ad9cb93d9b92ed38ee_a0ba38bcbffd46df971b683f37350e83_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708173012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708173004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708173020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708173037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708173047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708173028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,851.7,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "aad7d3bf3c7a47ad9cb93d9b92ed38ee_a0ba38bcbffd46df971b683f37350e83_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708173012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708173004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708173020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708173037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708173047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708173028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1418.3,555.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "aad7d3bf3c7a47ad9cb93d9b92ed38ee_a0ba38bcbffd46df971b683f37350e83_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708173012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708173004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708173020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708173037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708173047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708173028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1418.3,555.0>? 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": "aad7d3bf3c7a47ad9cb93d9b92ed38ee_a0ba38bcbffd46df971b683f37350e83_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708173012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708173004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708173020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708173037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708173047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708173028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1418.3,555.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "aad7d3bf3c7a47ad9cb93d9b92ed38ee_a0ba38bcbffd46df971b683f37350e83_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708173012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708173004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708173020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708173037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708173047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708173028113.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": "aad7d3bf3c7a47ad9cb93d9b92ed38ee_a0ba38bcbffd46df971b683f37350e83_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708173012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708173004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708173020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708173037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708173047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708173028113.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": "c9d654d4279c4efa9745a25ba6b373ee_02414cbc54c54f539e63f6420f431dd0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867161912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867161904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867161920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867161937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867161947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867161928113.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 back of the ego vehicle, a silver white sedan to the front of the ego vehicle, a white pickup truck to the front left of the ego vehicle, a sporty pedestrian to the front of the ego vehicle, a black SUV to the back of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,840.8,551.7>, <c2,CAM_FRONT,818.3,624.2>, <c3,CAM_FRONT_LEFT,1493.4,589.1>, <c4,CAM_FRONT,1419.2,525.8>, <c5,CAM_BACK,1151.7,550.0>, and <c6,CAM_FRONT,818.8,387.6>."
            }
        ]
    },
    {
        "id": "c9d654d4279c4efa9745a25ba6b373ee_02414cbc54c54f539e63f6420f431dd0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867161912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867161904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867161920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867161937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867161947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867161928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_FRONT,1419.2,525.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c9d654d4279c4efa9745a25ba6b373ee_02414cbc54c54f539e63f6420f431dd0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867161912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867161904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867161920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867161937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867161947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867161928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,840.8,551.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c9d654d4279c4efa9745a25ba6b373ee_02414cbc54c54f539e63f6420f431dd0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867161912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867161904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867161920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867161937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867161947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867161928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,840.8,551.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary, the reason is to follow the traffic rules, and the probability is high."
            }
        ]
    },
    {
        "id": "c9d654d4279c4efa9745a25ba6b373ee_02414cbc54c54f539e63f6420f431dd0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867161912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867161904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867161920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867161937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867161947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867161928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,840.8,551.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "c9d654d4279c4efa9745a25ba6b373ee_02414cbc54c54f539e63f6420f431dd0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867161912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867161904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867161920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867161937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867161947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867161928113.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": "c9d654d4279c4efa9745a25ba6b373ee_02414cbc54c54f539e63f6420f431dd0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867161912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867161904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867161920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867161937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867161947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867161928113.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": "c9d654d4279c4efa9745a25ba6b373ee_e493c2fddd1b4f819ff05033fa4e6a55_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867157862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867157855177.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867157870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867157887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867157897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867157878113.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 back of the ego vehicle, a white sedan to the front of the ego vehicle, a black sedan to the front of the ego vehicle, a pedestrian wearing a shirt to the front right of the ego vehicle, a traffic light to the front of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,840.0,522.5>, <c2,CAM_FRONT,821.7,598.3>, <c3,CAM_FRONT,475.0,532.5>, <c4,CAM_FRONT_RIGHT,244.2,602.5>, <c5,CAM_FRONT,794.6,390.9>, and <c6,CAM_FRONT,1368.5,222.1>."
            }
        ]
    },
    {
        "id": "c9d654d4279c4efa9745a25ba6b373ee_e493c2fddd1b4f819ff05033fa4e6a55_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867157862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867157855177.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867157870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867157887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867157897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867157878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_FRONT_RIGHT,244.2,602.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c9d654d4279c4efa9745a25ba6b373ee_e493c2fddd1b4f819ff05033fa4e6a55_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867157862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867157855177.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867157870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867157887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867157897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867157878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,840.0,522.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c9d654d4279c4efa9745a25ba6b373ee_e493c2fddd1b4f819ff05033fa4e6a55_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867157862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867157855177.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867157870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867157887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867157897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867157878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,840.0,522.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to brake gently to a stop. The reason is that there is no safety issue. The probability is high."
            }
        ]
    },
    {
        "id": "c9d654d4279c4efa9745a25ba6b373ee_e493c2fddd1b4f819ff05033fa4e6a55_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867157862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867157855177.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867157870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867157887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867157897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867157878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,840.0,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "c9d654d4279c4efa9745a25ba6b373ee_e493c2fddd1b4f819ff05033fa4e6a55_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867157862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867157855177.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867157870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867157887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867157897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867157878113.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."
            }
        ]
    },
    {
        "id": "c9d654d4279c4efa9745a25ba6b373ee_e493c2fddd1b4f819ff05033fa4e6a55_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867157862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867157855177.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867157870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867157887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867157897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867157878113.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": "64a3a2d22172406c848f2a92275808ba_207ee2a115534e0dbff3387fd93be435_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289935912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289935904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289935920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289935937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289935947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289935928113.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 back of the ego vehicle, a black sedan to the back of the ego vehicle, and a gray sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,869.2,500.8>, <c2,CAM_BACK,1413.7,684.2>, and <c3,CAM_BACK,210.0,480.0>."
            }
        ]
    },
    {
        "id": "64a3a2d22172406c848f2a92275808ba_207ee2a115534e0dbff3387fd93be435_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289935912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289935904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289935920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289935937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289935947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289935928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,869.2,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "64a3a2d22172406c848f2a92275808ba_207ee2a115534e0dbff3387fd93be435_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289935912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289935904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289935920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289935937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289935947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289935928113.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 <c2,CAM_BACK,1413.7,684.2>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_BACK,210.0,480.0>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,869.2,500.8>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "64a3a2d22172406c848f2a92275808ba_207ee2a115534e0dbff3387fd93be435_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289935912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289935904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289935920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289935937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289935947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289935928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,869.2,500.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "64a3a2d22172406c848f2a92275808ba_207ee2a115534e0dbff3387fd93be435_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289935912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289935904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289935920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289935937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289935947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289935928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,869.2,500.8>? 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": "64a3a2d22172406c848f2a92275808ba_207ee2a115534e0dbff3387fd93be435_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289935912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289935904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289935920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289935937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289935947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289935928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,869.2,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "64a3a2d22172406c848f2a92275808ba_207ee2a115534e0dbff3387fd93be435_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289935912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289935904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289935920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289935937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289935947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289935928113.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 ahead."
            }
        ]
    },
    {
        "id": "64a3a2d22172406c848f2a92275808ba_207ee2a115534e0dbff3387fd93be435_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289935912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289935904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289935920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289935937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289935947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289935928113.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": "64a3a2d22172406c848f2a92275808ba_e94b75f93d1e42149dcc0015b0d1384e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289934412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289934404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289934420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289934437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289934447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289934428113.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 back right of the ego vehicle, a black sedan car to the back of the ego vehicle, a white commercial vehicle to the front left of the ego vehicle, and a red light to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,219.9,483.4>, <c2,CAM_BACK,985.8,604.2>, <c3,CAM_FRONT_LEFT,545.0,538.3>, and <c4,CAM_FRONT_LEFT,240.1,156.4>."
            }
        ]
    },
    {
        "id": "64a3a2d22172406c848f2a92275808ba_e94b75f93d1e42149dcc0015b0d1384e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289934412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289934404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289934420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289934437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289934447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289934428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,985.8,604.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "64a3a2d22172406c848f2a92275808ba_e94b75f93d1e42149dcc0015b0d1384e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289934412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289934404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289934420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289934437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289934447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289934428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,219.9,483.4> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "64a3a2d22172406c848f2a92275808ba_e94b75f93d1e42149dcc0015b0d1384e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289934412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289934404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289934420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289934437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289934447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289934428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,219.9,483.4>? 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": "64a3a2d22172406c848f2a92275808ba_e94b75f93d1e42149dcc0015b0d1384e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289934412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289934404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289934420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289934437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289934447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289934428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,985.8,604.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "64a3a2d22172406c848f2a92275808ba_e94b75f93d1e42149dcc0015b0d1384e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289934412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289934404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289934420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289934437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289934447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289934428113.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 right."
            }
        ]
    },
    {
        "id": "64a3a2d22172406c848f2a92275808ba_e94b75f93d1e42149dcc0015b0d1384e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289934412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289934404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289934420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289934437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289934447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289934428113.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": "4bcb814456f044919bc052c208dbebc5_60512c21ca774ea3a8fb0fed757617d4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296434412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296434404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296434420921.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296434437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296434447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296434428113.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 black sedan to the back right of the ego vehicle, a black SUV to the front left of the ego vehicle, a white sedan to the back of the ego vehicle, a white truck to the back left of the ego vehicle, and a white pickup truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,419.2,540.8>, <c2,CAM_BACK_RIGHT,1017.5,675.0>, <c3,CAM_FRONT_LEFT,1316.7,537.5>, <c4,CAM_BACK,1103.3,505.0>, <c5,CAM_BACK_LEFT,869.6,589.5>, and <c6,CAM_FRONT,1021.7,479.2>."
            }
        ]
    },
    {
        "id": "4bcb814456f044919bc052c208dbebc5_60512c21ca774ea3a8fb0fed757617d4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296434412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296434404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296434420921.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296434437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296434447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296434428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,419.2,540.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4bcb814456f044919bc052c208dbebc5_60512c21ca774ea3a8fb0fed757617d4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296434412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296434404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296434420921.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296434437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296434447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296434428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,419.2,540.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4bcb814456f044919bc052c208dbebc5_60512c21ca774ea3a8fb0fed757617d4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296434412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296434404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296434420921.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296434437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296434447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296434428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,419.2,540.8>? 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": "4bcb814456f044919bc052c208dbebc5_60512c21ca774ea3a8fb0fed757617d4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296434412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296434404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296434420921.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296434437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296434447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296434428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,419.2,540.8>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "4bcb814456f044919bc052c208dbebc5_60512c21ca774ea3a8fb0fed757617d4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296434412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296434404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296434420921.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296434437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296434447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296434428113.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, slightly offset to the right."
            }
        ]
    },
    {
        "id": "4bcb814456f044919bc052c208dbebc5_60512c21ca774ea3a8fb0fed757617d4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296434412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296434404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296434420921.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296434437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296434447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296434428113.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": "5c76a3728b8b4d02ae20bd69fb928aa1_abfad6a00c194660abc85b9a1f215190_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.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 back of the ego vehicle, a white truck to the front right of the ego vehicle, a pedestrian wearing gray clothes to the back right of the ego vehicle, a white truck to the back of the ego vehicle, a black sedan car to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,685.8,497.5>, <c2,CAM_FRONT_RIGHT,957.5,443.3>, <c3,CAM_BACK_RIGHT,1206.7,579.2>, <c4,CAM_BACK,436.7,501.7>, <c5,CAM_FRONT,330.8,530.8>, and <c6,CAM_FRONT,1026.6,204.8>."
            }
        ]
    },
    {
        "id": "5c76a3728b8b4d02ae20bd69fb928aa1_abfad6a00c194660abc85b9a1f215190_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,685.8,497.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "5c76a3728b8b4d02ae20bd69fb928aa1_abfad6a00c194660abc85b9a1f215190_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,685.8,497.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5c76a3728b8b4d02ae20bd69fb928aa1_abfad6a00c194660abc85b9a1f215190_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,685.8,497.5>? 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": "5c76a3728b8b4d02ae20bd69fb928aa1_abfad6a00c194660abc85b9a1f215190_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,685.8,497.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "5c76a3728b8b4d02ae20bd69fb928aa1_abfad6a00c194660abc85b9a1f215190_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.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": "5c76a3728b8b4d02ae20bd69fb928aa1_abfad6a00c194660abc85b9a1f215190_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.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": "5b9c64f03f8b4a4f8189a18d74f866c2_afa2aba2422f453b9e82f2b9238eb471_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385294412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385294404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385294420573.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385294437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385294447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385294428113.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 to the front right of the ego vehicle, a pedestrian to the front of the ego vehicle, a white SUV to the front right of the ego vehicle, a gray commercial vehicle to the back of the ego vehicle, and a no left turn ahead to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1014.2,516.7>, <c2,CAM_FRONT,1019.2,485.8>, <c3,CAM_FRONT_RIGHT,495.1,490.0>, <c4,CAM_BACK,917.4,609.7>, and <c5,CAM_FRONT,627.1,366.6>."
            }
        ]
    },
    {
        "id": "5b9c64f03f8b4a4f8189a18d74f866c2_afa2aba2422f453b9e82f2b9238eb471_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385294412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385294404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385294420573.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385294437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385294447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385294428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,1014.2,516.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5b9c64f03f8b4a4f8189a18d74f866c2_afa2aba2422f453b9e82f2b9238eb471_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385294412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385294404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385294420573.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385294437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385294447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385294428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1014.2,516.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5b9c64f03f8b4a4f8189a18d74f866c2_afa2aba2422f453b9e82f2b9238eb471_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385294412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385294404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385294420573.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385294437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385294447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385294428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1014.2,516.7>? 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": "5b9c64f03f8b4a4f8189a18d74f866c2_afa2aba2422f453b9e82f2b9238eb471_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385294412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385294404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385294420573.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385294437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385294447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385294428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,1019.2,485.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "5b9c64f03f8b4a4f8189a18d74f866c2_afa2aba2422f453b9e82f2b9238eb471_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385294412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385294404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385294420573.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385294437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385294447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385294428113.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": "5b9c64f03f8b4a4f8189a18d74f866c2_afa2aba2422f453b9e82f2b9238eb471_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385294412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385294404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385294420573.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385294437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385294447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385294428113.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": "5b9c64f03f8b4a4f8189a18d74f866c2_4ffa9f7e6ba544d598d1322ded379a9b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385310862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385310854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385310870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385310887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385310897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385310878113.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 alien-shaped car to the front right of the ego vehicle, a black car to the back right of the ego vehicle, and a red car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,407.5,423.3>, <c2,CAM_BACK_RIGHT,193.3,532.5>, and <c3,CAM_FRONT,386.7,523.3>."
            }
        ]
    },
    {
        "id": "5b9c64f03f8b4a4f8189a18d74f866c2_4ffa9f7e6ba544d598d1322ded379a9b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385310862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385310854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385310870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385310887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385310897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385310878113.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 <c1,CAM_FRONT_RIGHT,407.5,423.3>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,386.7,523.3>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK_RIGHT,193.3,532.5>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "5b9c64f03f8b4a4f8189a18d74f866c2_4ffa9f7e6ba544d598d1322ded379a9b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385310862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385310854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385310870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385310887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385310897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385310878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,407.5,423.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5b9c64f03f8b4a4f8189a18d74f866c2_4ffa9f7e6ba544d598d1322ded379a9b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385310862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385310854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385310870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385310887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385310897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385310878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,407.5,423.3>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "5b9c64f03f8b4a4f8189a18d74f866c2_4ffa9f7e6ba544d598d1322ded379a9b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385310862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385310854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385310870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385310887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385310897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385310878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,407.5,423.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "5b9c64f03f8b4a4f8189a18d74f866c2_4ffa9f7e6ba544d598d1322ded379a9b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385310862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385310854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385310870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385310887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385310897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385310878113.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": "5b9c64f03f8b4a4f8189a18d74f866c2_4ffa9f7e6ba544d598d1322ded379a9b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385310862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385310854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385310870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385310887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385310897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385310878113.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 with normal speed."
            }
        ]
    },
    {
        "id": "2c1f2e5096434cd78919b2ae442d4ba4_2daa0e0cbef8475abaf78f5521dc0813_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662848412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662848404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662848420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662848437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662848447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662848427893.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 sedan to the back of the ego vehicle, and a keep straight to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,257.5,557.5>, <c2,CAM_BACK,796.7,530.0>, and <c3,CAM_BACK_LEFT,1304.4,453.6>."
            }
        ]
    },
    {
        "id": "2c1f2e5096434cd78919b2ae442d4ba4_2daa0e0cbef8475abaf78f5521dc0813_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662848412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662848404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662848420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662848437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662848447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662848427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,257.5,557.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2c1f2e5096434cd78919b2ae442d4ba4_2daa0e0cbef8475abaf78f5521dc0813_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662848412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662848404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662848420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662848437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662848447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662848427893.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 <c3,CAM_BACK_LEFT,1304.4,453.6>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,257.5,557.5>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,796.7,530.0>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "2c1f2e5096434cd78919b2ae442d4ba4_2daa0e0cbef8475abaf78f5521dc0813_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662848412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662848404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662848420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662848437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662848447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662848427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,257.5,557.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2c1f2e5096434cd78919b2ae442d4ba4_2daa0e0cbef8475abaf78f5521dc0813_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662848412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662848404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662848420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662848437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662848447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662848427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,257.5,557.5>? 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": "2c1f2e5096434cd78919b2ae442d4ba4_2daa0e0cbef8475abaf78f5521dc0813_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662848412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662848404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662848420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662848437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662848447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662848427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,257.5,557.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "2c1f2e5096434cd78919b2ae442d4ba4_2daa0e0cbef8475abaf78f5521dc0813_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662848412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662848404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662848420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662848437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662848447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662848427893.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, brake gently to a stop, decelerate gradually without braking, slightly offset to the left, change to the right lane, or slightly offset to the right."
            }
        ]
    },
    {
        "id": "2c1f2e5096434cd78919b2ae442d4ba4_2daa0e0cbef8475abaf78f5521dc0813_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662848412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662848404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662848420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662848437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662848447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662848427893.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": "93036f2be8de445aad06b727b848cea5_56f431ece3524744b6be942d3e581c08_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931915612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931915604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931915620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931915637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931915647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931915627893.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 traffic cone to the front of the ego vehicle, a pedestrian wearing yellow clothes to the front right of the ego vehicle, and a gray clothes pedestrian to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,852.5,505.8>, <c2,CAM_FRONT_RIGHT,1274.2,589.2>, and <c3,CAM_BACK,1447.5,516.7>."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_56f431ece3524744b6be942d3e581c08_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931915612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931915604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931915620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931915637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931915647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931915627893.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 <c2,CAM_FRONT_RIGHT,1274.2,589.2>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_BACK,1447.5,516.7>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c1,CAM_FRONT,852.5,505.8>, the object is a traffic sign, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_56f431ece3524744b6be942d3e581c08_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931915612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931915604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931915620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931915637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931915647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931915627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,852.5,505.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_56f431ece3524744b6be942d3e581c08_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931915612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931915604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931915620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931915637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931915647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931915627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_FRONT_RIGHT,1274.2,589.2>? 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": "93036f2be8de445aad06b727b848cea5_56f431ece3524744b6be942d3e581c08_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931915612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931915604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931915620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931915637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931915647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931915627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,1274.2,589.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_56f431ece3524744b6be942d3e581c08_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931915612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931915604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931915620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931915637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931915647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931915627893.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, and decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_56f431ece3524744b6be942d3e581c08_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931915612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931915604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931915620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931915637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931915647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931915627893.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": "93036f2be8de445aad06b727b848cea5_3d486e3053a14f8d9d6f026ff4b258d7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931906612485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931906604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931906620409.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931906637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931906647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931906627893.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 car to the back of the ego vehicle, a person wearing a gray top and white shorts to the back of the ego vehicle, and a person wearing a pink top and black pants to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,833.3,524.2>, <c2,CAM_BACK,1375.8,540.8>, and <c3,CAM_FRONT_LEFT,938.3,605.2>."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_3d486e3053a14f8d9d6f026ff4b258d7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931906612485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931906604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931906620409.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931906637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931906647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931906627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,833.3,524.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_3d486e3053a14f8d9d6f026ff4b258d7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931906612485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931906604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931906620409.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931906637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931906647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931906627893.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 <c3,CAM_FRONT_LEFT,938.3,605.2>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c2,CAM_BACK,1375.8,540.8>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c1,CAM_BACK,833.3,524.2>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_3d486e3053a14f8d9d6f026ff4b258d7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931906612485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931906604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931906620409.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931906637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931906647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931906627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,833.3,524.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_3d486e3053a14f8d9d6f026ff4b258d7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931906612485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931906604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931906620409.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931906637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931906647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931906627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,833.3,524.2>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_3d486e3053a14f8d9d6f026ff4b258d7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931906612485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931906604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931906620409.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931906637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931906647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931906627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,833.3,524.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_3d486e3053a14f8d9d6f026ff4b258d7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931906612485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931906604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931906620409.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931906637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931906647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931906627893.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": "93036f2be8de445aad06b727b848cea5_3d486e3053a14f8d9d6f026ff4b258d7_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931906612485.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931906604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931906620409.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931906637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931906647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931906627893.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": "93036f2be8de445aad06b727b848cea5_b281aa66bbea479f849bf0b5f7b6554a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931913612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931913604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931913620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931913637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931913647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931913627893.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 fire cone to the front of the ego vehicle, a person standing in place to the back left of the ego vehicle, and a white van to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,855.0,500.8>, <c2,CAM_BACK_LEFT,295.8,570.0>, and <c3,CAM_FRONT_RIGHT,1108.3,586.7>."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_b281aa66bbea479f849bf0b5f7b6554a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931913612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931913604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931913620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931913637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931913647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931913627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT_RIGHT,1108.3,586.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_b281aa66bbea479f849bf0b5f7b6554a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931913612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931913604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931913620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931913637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931913647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931913627893.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 <c2,CAM_BACK_LEFT,295.8,570.0>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_RIGHT,1108.3,586.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT,855.0,500.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_b281aa66bbea479f849bf0b5f7b6554a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931913612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931913604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931913620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931913637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931913647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931913627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,855.0,500.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_b281aa66bbea479f849bf0b5f7b6554a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931913612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931913604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931913620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931913637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931913647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931913627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_BACK_LEFT,295.8,570.0>? 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": "93036f2be8de445aad06b727b848cea5_b281aa66bbea479f849bf0b5f7b6554a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931913612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931913604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931913620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931913637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931913647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931913627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK_LEFT,295.8,570.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "93036f2be8de445aad06b727b848cea5_b281aa66bbea479f849bf0b5f7b6554a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931913612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931913604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931913620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931913637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931913647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931913627893.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": "93036f2be8de445aad06b727b848cea5_b281aa66bbea479f849bf0b5f7b6554a_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931913612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931913604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931913620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931913637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931913647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931913627893.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": "491322eec05043c9907c59aa35b046ea_d3fd79a9d5d14101a5511d2a98cbe5bf_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296481912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296481904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296481920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296481937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296481947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296481928113.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 roadblock to the front of the ego vehicle, a white SUV to the back of the ego vehicle, and a blue sedan to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1472.5,722.5>, <c2,CAM_BACK,850.8,490.8>, and <c3,CAM_BACK_LEFT,1443.3,573.3>."
            }
        ]
    },
    {
        "id": "491322eec05043c9907c59aa35b046ea_d3fd79a9d5d14101a5511d2a98cbe5bf_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296481912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296481904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296481920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296481937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296481947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296481928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,850.8,490.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "491322eec05043c9907c59aa35b046ea_d3fd79a9d5d14101a5511d2a98cbe5bf_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296481912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296481904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296481920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296481937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296481947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296481928113.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 <c1,CAM_FRONT,1472.5,722.5>, the object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c2,CAM_BACK,850.8,490.8>, the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c3,CAM_BACK_LEFT,1443.3,573.3>, the object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "491322eec05043c9907c59aa35b046ea_d3fd79a9d5d14101a5511d2a98cbe5bf_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296481912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296481904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296481920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296481937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296481947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296481928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1472.5,722.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "491322eec05043c9907c59aa35b046ea_d3fd79a9d5d14101a5511d2a98cbe5bf_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296481912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296481904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296481920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296481937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296481947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296481928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_BACK,850.8,490.8>? 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": "491322eec05043c9907c59aa35b046ea_d3fd79a9d5d14101a5511d2a98cbe5bf_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296481912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296481904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296481920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296481937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296481947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296481928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,850.8,490.8>?"
            },
            {
                "from": "gpt",
                "value": "No actions taken by the ego vehicle will lead to a collision with <c2,CAM_BACK,850.8,490.8>."
            }
        ]
    },
    {
        "id": "491322eec05043c9907c59aa35b046ea_d3fd79a9d5d14101a5511d2a98cbe5bf_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296481912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296481904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296481920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296481937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296481947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296481928113.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": "491322eec05043c9907c59aa35b046ea_d3fd79a9d5d14101a5511d2a98cbe5bf_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296481912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296481904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296481920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296481937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296481947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296481928113.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": "491322eec05043c9907c59aa35b046ea_801774e9b5434a13b22fc1db3eb3e8eb_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296466362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296466354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296466370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296466387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296466397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296466378113.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 back of the ego vehicle, a white truck to the back of the ego vehicle, and a gray SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,849.2,501.7>, <c2,CAM_BACK,1277.0,440.4>, and <c3,CAM_FRONT_LEFT,1316.9,585.8>."
            }
        ]
    },
    {
        "id": "491322eec05043c9907c59aa35b046ea_801774e9b5434a13b22fc1db3eb3e8eb_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296466362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296466354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296466370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296466387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296466397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296466378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,849.2,501.7>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "491322eec05043c9907c59aa35b046ea_801774e9b5434a13b22fc1db3eb3e8eb_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296466362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296466354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296466370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296466387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296466397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296466378113.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 <c3,CAM_FRONT_LEFT,1316.9,585.8>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c2,CAM_BACK,1277.0,440.4>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,849.2,501.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "491322eec05043c9907c59aa35b046ea_801774e9b5434a13b22fc1db3eb3e8eb_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296466362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296466354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296466370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296466387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296466397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296466378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,849.2,501.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "491322eec05043c9907c59aa35b046ea_801774e9b5434a13b22fc1db3eb3e8eb_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296466362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296466354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296466370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296466387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296466397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296466378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,849.2,501.7>? 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": "491322eec05043c9907c59aa35b046ea_801774e9b5434a13b22fc1db3eb3e8eb_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296466362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296466354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296466370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296466387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296466397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296466378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,849.2,501.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "491322eec05043c9907c59aa35b046ea_801774e9b5434a13b22fc1db3eb3e8eb_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296466362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296466354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296466370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296466387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296466397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296466378113.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": "491322eec05043c9907c59aa35b046ea_801774e9b5434a13b22fc1db3eb3e8eb_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296466362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296466354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296466370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296466387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296466397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296466378113.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": "b68cfa7e0bd64bd395fd922d750cfdd2_001d63f61c024f8bb791acbfa4628249_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280193412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280193404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280193420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280193437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280193447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280193427893.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 car to the back of the ego vehicle, a gray sedan to the front left of the ego vehicle, and a pedestrian preparing to cross the road to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1234.0,635.0>, <c2,CAM_FRONT_LEFT,1288.3,487.5>, and <c3,CAM_FRONT_LEFT,453.3,662.5>."
            }
        ]
    },
    {
        "id": "b68cfa7e0bd64bd395fd922d750cfdd2_001d63f61c024f8bb791acbfa4628249_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280193412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280193404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280193420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280193437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280193447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280193427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1234.0,635.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b68cfa7e0bd64bd395fd922d750cfdd2_001d63f61c024f8bb791acbfa4628249_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280193412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280193404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280193420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280193437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280193447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280193427893.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 <c1,CAM_BACK,1234.0,635.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_LEFT,453.3,662.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT_LEFT,1288.3,487.5>. The object is turning right, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "b68cfa7e0bd64bd395fd922d750cfdd2_001d63f61c024f8bb791acbfa4628249_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280193412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280193404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280193420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280193437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280193447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280193427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1234.0,635.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b68cfa7e0bd64bd395fd922d750cfdd2_001d63f61c024f8bb791acbfa4628249_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280193412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280193404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280193420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280193437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280193447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280193427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1234.0,635.0>? 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": "b68cfa7e0bd64bd395fd922d750cfdd2_001d63f61c024f8bb791acbfa4628249_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280193412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280193404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280193420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280193437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280193447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280193427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1234.0,635.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "b68cfa7e0bd64bd395fd922d750cfdd2_001d63f61c024f8bb791acbfa4628249_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280193412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280193404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280193420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280193437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280193447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280193427893.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": "b68cfa7e0bd64bd395fd922d750cfdd2_001d63f61c024f8bb791acbfa4628249_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280193412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280193404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280193420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280193437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280193447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280193427893.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": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_e4700cf5fa7a4aa8b673be3d257a08c4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296543162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296543154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296543170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296543187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296543197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296543178113.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 left of the ego vehicle, a white truck to the back of the ego vehicle, a black pickup truck 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 <c1,CAM_FRONT_LEFT,748.3,553.3>, <c2,CAM_BACK,739.2,469.2>, <c3,CAM_FRONT_RIGHT,539.2,445.8>, and <c4,CAM_FRONT,1010.7,411.4>."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_e4700cf5fa7a4aa8b673be3d257a08c4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296543162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296543154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296543170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296543187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296543197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296543178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,748.3,553.3>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_e4700cf5fa7a4aa8b673be3d257a08c4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296543162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296543154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296543170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296543187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296543197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296543178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,748.3,553.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_e4700cf5fa7a4aa8b673be3d257a08c4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296543162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296543154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296543170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296543187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296543197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296543178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,748.3,553.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right, the reason is to follow the traffic rules, high probability."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_e4700cf5fa7a4aa8b673be3d257a08c4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296543162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296543154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296543170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296543187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296543197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296543178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,748.3,553.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_e4700cf5fa7a4aa8b673be3d257a08c4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296543162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296543154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296543170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296543187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296543197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296543178113.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 suddenly and turn right."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_e4700cf5fa7a4aa8b673be3d257a08c4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296543162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296543154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296543170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296543187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296543197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296543178113.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": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b1a7e37722494ddcb2c961a302756854_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296541662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296541654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296541670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296541687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296541697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296541678113.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 left of the ego vehicle, a white truck to the back of the ego vehicle, a black SUV 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 <c1,CAM_FRONT_LEFT,595.8,524.2>, <c2,CAM_BACK,739.2,467.5>, <c3,CAM_FRONT_RIGHT,966.7,425.0>, and <c4,CAM_FRONT,1006.3,417.4>."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b1a7e37722494ddcb2c961a302756854_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296541662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296541654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296541670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296541687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296541697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296541678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,595.8,524.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b1a7e37722494ddcb2c961a302756854_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296541662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296541654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296541670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296541687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296541697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296541678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,595.8,524.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b1a7e37722494ddcb2c961a302756854_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296541662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296541654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296541670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296541687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296541697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296541678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,595.8,524.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b1a7e37722494ddcb2c961a302756854_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296541662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296541654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296541670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296541687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296541697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296541678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,595.8,524.2>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b1a7e37722494ddcb2c961a302756854_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296541662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296541654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296541670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296541687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296541697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296541678113.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": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b1a7e37722494ddcb2c961a302756854_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296541662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296541654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296541670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296541687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296541697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296541678113.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": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b988567cb7244e418b9c2e92938ce501_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296534112419.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296534104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296534120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296534137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296534147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296534128113.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 black car to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1423.3,469.2>, <c2,CAM_FRONT,875.0,515.8>, and <c3,CAM_FRONT,1089.5,398.9>."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b988567cb7244e418b9c2e92938ce501_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296534112419.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296534104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296534120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296534137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296534147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296534128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1423.3,469.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b988567cb7244e418b9c2e92938ce501_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296534112419.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296534104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296534120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296534137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296534147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296534128113.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 <c3,CAM_FRONT,1089.5,398.9>. It is a traffic sign, so the ego vehicle should turn right. Secondly, notice <c2,CAM_FRONT,875.0,515.8>. It is turning left, so the ego vehicle should turn right. Thirdly, notice <c1,CAM_FRONT,1423.3,469.2>. It is going ahead, so the ego vehicle should turn right."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b988567cb7244e418b9c2e92938ce501_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296534112419.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296534104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296534120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296534137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296534147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296534128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1423.3,469.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b988567cb7244e418b9c2e92938ce501_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296534112419.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296534104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296534120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296534137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296534147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296534128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1423.3,469.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason for taking this action is that there is no safety issue, which is high in probability."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b988567cb7244e418b9c2e92938ce501_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296534112419.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296534104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296534120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296534137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296534147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296534128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1423.3,469.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b988567cb7244e418b9c2e92938ce501_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296534112419.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296534104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296534120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296534137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296534147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296534128113.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, brake gently to stop."
            }
        ]
    },
    {
        "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b988567cb7244e418b9c2e92938ce501_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296534112419.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296534104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296534120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296534137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296534147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296534128113.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": "69a38ccf0894467fbae658d28d4fd10a_30c9cfbbe0064f63857aa56590352c7b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193883412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193883404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193883420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193883437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193883447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193883427893.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 blue shirt to the back of the ego vehicle, a white sedan car to the back of the ego vehicle, and a white road sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,17.5,575.1>, <c2,CAM_BACK,885.0,585.8>, and <c3,CAM_FRONT,580.7,696.4>."
            }
        ]
    },
    {
        "id": "69a38ccf0894467fbae658d28d4fd10a_30c9cfbbe0064f63857aa56590352c7b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193883412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193883404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193883420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193883437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193883447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193883427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,17.5,575.1>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "69a38ccf0894467fbae658d28d4fd10a_30c9cfbbe0064f63857aa56590352c7b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193883412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193883404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193883420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193883437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193883447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193883427893.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 <c3,CAM_FRONT,580.7,696.4>. It is a traffic sign, so the ego vehicle should slow down and continue forward. Secondly, notice <c1,CAM_BACK,17.5,575.1>. It is going ahead, so the ego vehicle should continue forward at the same speed. Thirdly, notice <c2,CAM_BACK,885.0,585.8>. It is also going ahead, so the ego vehicle should continue forward at the same speed."
            }
        ]
    },
    {
        "id": "69a38ccf0894467fbae658d28d4fd10a_30c9cfbbe0064f63857aa56590352c7b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193883412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193883404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193883420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193883437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193883447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193883427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,17.5,575.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "69a38ccf0894467fbae658d28d4fd10a_30c9cfbbe0064f63857aa56590352c7b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193883412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193883404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193883420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193883437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193883447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193883427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,17.5,575.1>? 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, and the probability is high."
            }
        ]
    },
    {
        "id": "69a38ccf0894467fbae658d28d4fd10a_30c9cfbbe0064f63857aa56590352c7b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193883412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193883404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193883420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193883437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193883447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193883427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,17.5,575.1>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,17.5,575.1>."
            }
        ]
    },
    {
        "id": "69a38ccf0894467fbae658d28d4fd10a_30c9cfbbe0064f63857aa56590352c7b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193883412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193883404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193883420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193883437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193883447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193883427893.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "69a38ccf0894467fbae658d28d4fd10a_30c9cfbbe0064f63857aa56590352c7b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193883412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193883404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193883420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193883437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193883447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193883427893.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": "c7604a179ea94e45857ec2c16416e5ad_e5f29c318d5d416490c8848c49c45442_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659477512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659477504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659477520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659477537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659477547414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659477528113.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 sedan to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1361.7,525.0>, <c2,CAM_FRONT,467.5,525.0>, and <c3,CAM_BACK,909.2,510.0>."
            }
        ]
    },
    {
        "id": "c7604a179ea94e45857ec2c16416e5ad_e5f29c318d5d416490c8848c49c45442_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659477512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659477504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659477520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659477537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659477547414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659477528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,909.2,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c7604a179ea94e45857ec2c16416e5ad_e5f29c318d5d416490c8848c49c45442_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659477512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659477504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659477520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659477537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659477547414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659477528113.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 <c1,CAM_FRONT,1361.7,525.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,467.5,525.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,909.2,510.0>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "c7604a179ea94e45857ec2c16416e5ad_e5f29c318d5d416490c8848c49c45442_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659477512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659477504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659477520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659477537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659477547414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659477528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1361.7,525.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c7604a179ea94e45857ec2c16416e5ad_e5f29c318d5d416490c8848c49c45442_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659477512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659477504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659477520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659477537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659477547414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659477528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1361.7,525.0>? 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 is high."
            }
        ]
    },
    {
        "id": "c7604a179ea94e45857ec2c16416e5ad_e5f29c318d5d416490c8848c49c45442_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659477512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659477504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659477520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659477537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659477547414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659477528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1361.7,525.0>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "c7604a179ea94e45857ec2c16416e5ad_e5f29c318d5d416490c8848c49c45442_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659477512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659477504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659477520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659477537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659477547414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659477528113.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": "c7604a179ea94e45857ec2c16416e5ad_e5f29c318d5d416490c8848c49c45442_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659477512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659477504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659477520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659477537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659477547414.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659477528113.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": "04061484361145f5ac6f90a5103b84a6_1bd11478010c476da4dad2c10168f811_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.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 front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a man with a red hat to the front left of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,548.5,569.2>, <c2,CAM_FRONT,76.7,505.8>, <c3,CAM_BACK,854.2,586.7>, <c4,CAM_FRONT_LEFT,1363.3,531.7>, and <c5,CAM_FRONT,1463.1,377.8>."
            }
        ]
    },
    {
        "id": "04061484361145f5ac6f90a5103b84a6_1bd11478010c476da4dad2c10168f811_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,548.5,569.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "04061484361145f5ac6f90a5103b84a6_1bd11478010c476da4dad2c10168f811_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,548.5,569.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "04061484361145f5ac6f90a5103b84a6_1bd11478010c476da4dad2c10168f811_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,548.5,569.2>? 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, and the probability is high."
            }
        ]
    },
    {
        "id": "04061484361145f5ac6f90a5103b84a6_1bd11478010c476da4dad2c10168f811_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,548.5,569.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "04061484361145f5ac6f90a5103b84a6_1bd11478010c476da4dad2c10168f811_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.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, turn left, turn right, slightly offset to the left, slightly offset to the right."
            }
        ]
    },
    {
        "id": "04061484361145f5ac6f90a5103b84a6_1bd11478010c476da4dad2c10168f811_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.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": "d9161e521b1644cea4cb9e3f21ef9f79_d3c00e5c5b1e42e68f021204dc5e6de3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194191362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194191354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194191370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194191387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194191397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194191377893.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 right of the ego vehicle, a brown sedan to the front of the ego vehicle, a unable to confirm to the front of the ego vehicle, and a white bus to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1009.2,570.8>, <c2,CAM_FRONT,998.3,664.2>, <c3,CAM_FRONT,529.2,517.5>, and <c4,CAM_BACK,900.8,530.8>."
            }
        ]
    },
    {
        "id": "d9161e521b1644cea4cb9e3f21ef9f79_d3c00e5c5b1e42e68f021204dc5e6de3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194191362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194191354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194191370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194191387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194191397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194191377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,1009.2,570.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d9161e521b1644cea4cb9e3f21ef9f79_d3c00e5c5b1e42e68f021204dc5e6de3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194191362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194191354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194191370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194191387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194191397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194191377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1009.2,570.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d9161e521b1644cea4cb9e3f21ef9f79_d3c00e5c5b1e42e68f021204dc5e6de3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194191362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194191354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194191370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194191387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194191397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194191377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1009.2,570.8>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "d9161e521b1644cea4cb9e3f21ef9f79_d3c00e5c5b1e42e68f021204dc5e6de3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194191362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194191354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194191370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194191387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194191397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194191377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1009.2,570.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "d9161e521b1644cea4cb9e3f21ef9f79_d3c00e5c5b1e42e68f021204dc5e6de3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194191362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194191354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194191370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194191387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194191397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194191377893.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."
            }
        ]
    },
    {
        "id": "d9161e521b1644cea4cb9e3f21ef9f79_d3c00e5c5b1e42e68f021204dc5e6de3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194191362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194191354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194191370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194191387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194191397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194191377893.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": "d9161e521b1644cea4cb9e3f21ef9f79_e79f9ad74f0c442fbf74227b96da9316_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194181362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194181354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194181370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194181387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194181397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194181377893.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 front of the ego vehicle, a yellow bus to the back of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,528.3,528.3>, <c2,CAM_BACK,959.2,530.8>, and <c3,CAM_FRONT,663.3,600.8>."
            }
        ]
    },
    {
        "id": "d9161e521b1644cea4cb9e3f21ef9f79_e79f9ad74f0c442fbf74227b96da9316_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194181362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194181354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194181370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194181387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194181397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194181377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,528.3,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d9161e521b1644cea4cb9e3f21ef9f79_e79f9ad74f0c442fbf74227b96da9316_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194181362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194181354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194181370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194181387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194181397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194181377893.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 <c3,CAM_FRONT,663.3,600.8>. The object is going ahead, so the ego vehicle should keep stationary. Secondly, notice <c1,CAM_FRONT,528.3,528.3>. The object is going ahead, so the ego vehicle should keep stationary. Thirdly, notice <c2,CAM_BACK,959.2,530.8>. The object is going ahead, so the ego vehicle should keep stationary."
            }
        ]
    },
    {
        "id": "d9161e521b1644cea4cb9e3f21ef9f79_e79f9ad74f0c442fbf74227b96da9316_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194181362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194181354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194181370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194181387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194181397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194181377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,528.3,528.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d9161e521b1644cea4cb9e3f21ef9f79_e79f9ad74f0c442fbf74227b96da9316_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194181362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194181354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194181370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194181387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194181397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194181377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,528.3,528.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary. The reason is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "d9161e521b1644cea4cb9e3f21ef9f79_e79f9ad74f0c442fbf74227b96da9316_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194181362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194181354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194181370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194181387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194181397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194181377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,528.3,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "d9161e521b1644cea4cb9e3f21ef9f79_e79f9ad74f0c442fbf74227b96da9316_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194181362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194181354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194181370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194181387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194181397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194181377893.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 right, brake gently to a stop."
            }
        ]
    },
    {
        "id": "d9161e521b1644cea4cb9e3f21ef9f79_e79f9ad74f0c442fbf74227b96da9316_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194181362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194181354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194181370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194181387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194181397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194181377893.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": "6b80170cd8404e6298d353bf1fa8dc0c_95ef46a0f5fa42f492a314a5e64885f9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659275112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659275104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659275120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659275137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659275147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659275128113.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 small sedan car to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, a gray sedan to the front of the ego vehicle, a gray SUV to the front of the ego vehicle, a white compact car to the front right of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,535.8,480.0>, <c2,CAM_BACK,564.2,645.8>, <c3,CAM_FRONT,690.8,475.8>, <c4,CAM_FRONT,58.8,515.8>, <c5,CAM_FRONT_RIGHT,468.3,472.5>, and <c6,CAM_FRONT,1039.6,401.2>."
            }
        ]
    },
    {
        "id": "6b80170cd8404e6298d353bf1fa8dc0c_95ef46a0f5fa42f492a314a5e64885f9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659275112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659275104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659275120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659275137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659275147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659275128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,535.8,480.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6b80170cd8404e6298d353bf1fa8dc0c_95ef46a0f5fa42f492a314a5e64885f9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659275112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659275104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659275120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659275137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659275147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659275128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,535.8,480.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6b80170cd8404e6298d353bf1fa8dc0c_95ef46a0f5fa42f492a314a5e64885f9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659275112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659275104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659275120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659275137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659275147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659275128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,535.8,480.0>? 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": "6b80170cd8404e6298d353bf1fa8dc0c_95ef46a0f5fa42f492a314a5e64885f9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659275112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659275104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659275120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659275137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659275147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659275128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,535.8,480.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "6b80170cd8404e6298d353bf1fa8dc0c_95ef46a0f5fa42f492a314a5e64885f9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659275112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659275104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659275120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659275137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659275147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659275128113.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": "6b80170cd8404e6298d353bf1fa8dc0c_95ef46a0f5fa42f492a314a5e64885f9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659275112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659275104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659275120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659275137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659275147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659275128113.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": "e8bda599a2d44d76a7692caeacb1ba6e_1d0b2e1403c84405a8dc1bfb4173c6b7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487568162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487568154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487568170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487568187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487568197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487568178113.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 wall to the front of the ego vehicle, a white truck to the back right of the ego vehicle, a gray SUV to the back of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1007.5,563.3>, <c2,CAM_BACK_RIGHT,945.8,485.0>, <c3,CAM_BACK,933.3,520.0>, and <c4,CAM_FRONT,729.2,484.2>."
            }
        ]
    },
    {
        "id": "e8bda599a2d44d76a7692caeacb1ba6e_1d0b2e1403c84405a8dc1bfb4173c6b7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487568162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487568154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487568170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487568187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487568197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487568178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK_RIGHT,945.8,485.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e8bda599a2d44d76a7692caeacb1ba6e_1d0b2e1403c84405a8dc1bfb4173c6b7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487568162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487568154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487568170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487568187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487568197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487568178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1007.5,563.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "e8bda599a2d44d76a7692caeacb1ba6e_1d0b2e1403c84405a8dc1bfb4173c6b7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487568162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487568154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487568170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487568187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487568197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487568178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_BACK_RIGHT,945.8,485.0>? 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": "e8bda599a2d44d76a7692caeacb1ba6e_1d0b2e1403c84405a8dc1bfb4173c6b7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487568162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487568154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487568170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487568187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487568197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487568178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK_RIGHT,945.8,485.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "e8bda599a2d44d76a7692caeacb1ba6e_1d0b2e1403c84405a8dc1bfb4173c6b7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487568162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487568154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487568170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487568187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487568197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487568178113.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "e8bda599a2d44d76a7692caeacb1ba6e_1d0b2e1403c84405a8dc1bfb4173c6b7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487568162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487568154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487568170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487568187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487568197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487568178113.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": "e8bda599a2d44d76a7692caeacb1ba6e_f7d61c214c3c49178f46ca949a27fc7b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487562662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487562654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487562670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487562687560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487562697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487562678113.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 left of the ego vehicle, a white truck to the front of the ego vehicle, a black sedan to the front of the ego vehicle, a white SUV to the back of the ego vehicle, and a black truck to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,635.0,541.7>, <c2,CAM_FRONT,1205.0,488.3>, <c3,CAM_FRONT,560.0,512.5>, <c4,CAM_BACK,868.3,502.5>, and <c5,CAM_BACK_LEFT,1266.7,601.7>."
            }
        ]
    },
    {
        "id": "e8bda599a2d44d76a7692caeacb1ba6e_f7d61c214c3c49178f46ca949a27fc7b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487562662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487562654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487562670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487562687560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487562697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487562678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1205.0,488.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e8bda599a2d44d76a7692caeacb1ba6e_f7d61c214c3c49178f46ca949a27fc7b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487562662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487562654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487562670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487562687560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487562697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487562678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,635.0,541.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e8bda599a2d44d76a7692caeacb1ba6e_f7d61c214c3c49178f46ca949a27fc7b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487562662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487562654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487562670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487562687560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487562697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487562678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,635.0,541.7>? 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": "e8bda599a2d44d76a7692caeacb1ba6e_f7d61c214c3c49178f46ca949a27fc7b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487562662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487562654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487562670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487562687560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487562697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487562678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,635.0,541.7>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "e8bda599a2d44d76a7692caeacb1ba6e_f7d61c214c3c49178f46ca949a27fc7b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487562662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487562654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487562670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487562687560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487562697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487562678113.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": "e8bda599a2d44d76a7692caeacb1ba6e_f7d61c214c3c49178f46ca949a27fc7b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487562662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487562654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487562670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487562687560.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487562697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487562678113.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_8dc4aa3300b74fb98a5cd95d4774d90a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289745862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289745854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289745870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289745887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289745897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289745878113.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 black car to the back left of the ego vehicle, a person wearing black clothes to the front left of the ego vehicle, a blue license plate to the front of the ego vehicle, and a red car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,882.5,507.5>, <c2,CAM_BACK_LEFT,1130.8,575.8>, <c3,CAM_FRONT_LEFT,733.3,511.7>, <c4,CAM_FRONT,1210.2,458.1>, and <c5,CAM_FRONT,226.7,536.7>."
            }
        ]
    },
    {
        "id": "96a410b8fe5e4b57bf69b844bfd4d28c_8dc4aa3300b74fb98a5cd95d4774d90a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289745862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289745854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289745870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289745887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289745897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289745878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,882.5,507.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "96a410b8fe5e4b57bf69b844bfd4d28c_8dc4aa3300b74fb98a5cd95d4774d90a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289745862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289745854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289745870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289745887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289745897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289745878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,882.5,507.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "96a410b8fe5e4b57bf69b844bfd4d28c_8dc4aa3300b74fb98a5cd95d4774d90a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289745862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289745854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289745870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289745887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289745897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289745878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,882.5,507.5>? 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 probability."
            }
        ]
    },
    {
        "id": "96a410b8fe5e4b57bf69b844bfd4d28c_8dc4aa3300b74fb98a5cd95d4774d90a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289745862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289745854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289745870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289745887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289745897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289745878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,882.5,507.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "96a410b8fe5e4b57bf69b844bfd4d28c_8dc4aa3300b74fb98a5cd95d4774d90a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289745862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289745854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289745870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289745887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289745897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289745878113.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."
            }
        ]
    },
    {
        "id": "96a410b8fe5e4b57bf69b844bfd4d28c_8dc4aa3300b74fb98a5cd95d4774d90a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289745862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289745854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289745870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289745887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289745897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289745878113.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": "36b7b02f0f034f0595e3437a85554151_036f20c2c7f940b39795e6b16285c38d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867303912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867303904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867303920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867303937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867303947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867303928113.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 front of the ego vehicle, a white sedan to the back of the ego vehicle, a white truck to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,501.7,505.0>, <c2,CAM_BACK,838.3,542.5>, <c3,CAM_FRONT,1199.6,438.3>, and <c4,CAM_FRONT,999.0,378.4>."
            }
        ]
    },
    {
        "id": "36b7b02f0f034f0595e3437a85554151_036f20c2c7f940b39795e6b16285c38d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867303912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867303904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867303920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867303937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867303947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867303928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,501.7,505.0>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "36b7b02f0f034f0595e3437a85554151_036f20c2c7f940b39795e6b16285c38d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867303912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867303904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867303920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867303937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867303947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867303928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,501.7,505.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "36b7b02f0f034f0595e3437a85554151_036f20c2c7f940b39795e6b16285c38d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867303912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867303904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867303920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867303937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867303947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867303928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,501.7,505.0>? 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. The probability is high."
            }
        ]
    },
    {
        "id": "36b7b02f0f034f0595e3437a85554151_036f20c2c7f940b39795e6b16285c38d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867303912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867303904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867303920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867303937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867303947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867303928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,501.7,505.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,501.7,505.0>."
            }
        ]
    },
    {
        "id": "36b7b02f0f034f0595e3437a85554151_036f20c2c7f940b39795e6b16285c38d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867303912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867303904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867303920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867303937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867303947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867303928113.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_036f20c2c7f940b39795e6b16285c38d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867303912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867303904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867303920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867303937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867303947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867303928113.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": "36b7b02f0f034f0595e3437a85554151_a15ccf87fe664fec869e36187aff107a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867314412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867314404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867314420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867314437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867314447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867314428113.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 sedan to the front of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1005.0,386.1>, <c2,CAM_BACK,835.0,563.3>, <c3,CAM_FRONT,875.0,498.3>, and <c4,CAM_FRONT,1100.0,514.2>."
            }
        ]
    },
    {
        "id": "36b7b02f0f034f0595e3437a85554151_a15ccf87fe664fec869e36187aff107a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867314412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867314404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867314420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867314437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867314447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867314428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,875.0,498.3>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "36b7b02f0f034f0595e3437a85554151_a15ccf87fe664fec869e36187aff107a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867314412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867314404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867314420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867314437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867314447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867314428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1005.0,386.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "36b7b02f0f034f0595e3437a85554151_a15ccf87fe664fec869e36187aff107a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867314412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867314404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867314420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867314437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867314447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867314428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_BACK,835.0,563.3>? 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, which is high probability."
            }
        ]
    },
    {
        "id": "36b7b02f0f034f0595e3437a85554151_a15ccf87fe664fec869e36187aff107a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867314412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867314404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867314420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867314437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867314447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867314428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,835.0,563.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "36b7b02f0f034f0595e3437a85554151_a15ccf87fe664fec869e36187aff107a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867314412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867314404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867314420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867314437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867314447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867314428113.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."
            }
        ]
    },
    {
        "id": "36b7b02f0f034f0595e3437a85554151_a15ccf87fe664fec869e36187aff107a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867314412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867314404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867314420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867314437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867314447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867314428113.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": "f13bd38bf9b64d579a63d4e7d750f592_713ba868548842b498713123c99de45b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279784862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279784854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279784870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279784887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279784897433.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279784877893.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 bicycle to the front of the ego vehicle, a golden truck to the back of the ego vehicle, and a pedestrian to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,578.3,531.7>, <c2,CAM_BACK,993.3,537.5>, and <c3,CAM_FRONT_RIGHT,387.5,524.2>."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_713ba868548842b498713123c99de45b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279784862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279784854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279784870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279784887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279784897433.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279784877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,578.3,531.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_713ba868548842b498713123c99de45b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279784862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279784854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279784870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279784887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279784897433.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279784877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,578.3,531.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_713ba868548842b498713123c99de45b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279784862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279784854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279784870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279784887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279784897433.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279784877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,578.3,531.7>? 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": "f13bd38bf9b64d579a63d4e7d750f592_713ba868548842b498713123c99de45b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279784862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279784854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279784870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279784887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279784897433.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279784877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,578.3,531.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_713ba868548842b498713123c99de45b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279784862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279784854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279784870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279784887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279784897433.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279784877893.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": "f13bd38bf9b64d579a63d4e7d750f592_713ba868548842b498713123c99de45b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279784862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279784854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279784870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279784887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279784897433.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279784877893.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": "f13bd38bf9b64d579a63d4e7d750f592_82af21ef1cd54f4b94004274d0f19f55_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279778512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279778504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279778520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279778537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279778547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279778527893.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 front of the ego vehicle, a gray sedan to the back of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1205.0,570.0>, <c2,CAM_BACK,127.0,596.4>, and <c3,CAM_FRONT,695.0,496.7>."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_82af21ef1cd54f4b94004274d0f19f55_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279778512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279778504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279778520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279778537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279778547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279778527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1205.0,570.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_82af21ef1cd54f4b94004274d0f19f55_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279778512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279778504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279778520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279778537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279778547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279778527893.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 <c1,CAM_FRONT,1205.0,570.0>. It is going ahead, so the ego vehicle should continue at the same speed. Secondly, notice <c3,CAM_FRONT,695.0,496.7>. It is stationary, so the ego vehicle should continue at the same speed. Thirdly, notice <c2,CAM_BACK,127.0,596.4>. It is going ahead, so the ego vehicle should continue at the same speed."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_82af21ef1cd54f4b94004274d0f19f55_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279778512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279778504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279778520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279778537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279778547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279778527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1205.0,570.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_82af21ef1cd54f4b94004274d0f19f55_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279778512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279778504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279778520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279778537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279778547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279778527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1205.0,570.0>? 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": "f13bd38bf9b64d579a63d4e7d750f592_82af21ef1cd54f4b94004274d0f19f55_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279778512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279778504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279778520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279778537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279778547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279778527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1205.0,570.0>?"
            },
            {
                "from": "gpt",
                "value": "Change to the right lane."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_82af21ef1cd54f4b94004274d0f19f55_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279778512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279778504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279778520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279778537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279778547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279778527893.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": "f13bd38bf9b64d579a63d4e7d750f592_82af21ef1cd54f4b94004274d0f19f55_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279778512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279778504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279778520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279778537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279778547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279778527893.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": "f13bd38bf9b64d579a63d4e7d750f592_a794f438d47146d5912027e68188aaf4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279769912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279769904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279769920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279769937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279769947518.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279769927893.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 man in white clothes to the front of the ego vehicle, a blue coach to the back of the ego vehicle, a woman riding an electric bike to the back of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,117.5,514.2>, <c2,CAM_BACK,933.3,510.0>, <c3,CAM_BACK,836.7,522.5>, and <c4,CAM_FRONT,952.5,467.5>."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_a794f438d47146d5912027e68188aaf4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279769912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279769904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279769920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279769937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279769947518.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279769927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,117.5,514.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_a794f438d47146d5912027e68188aaf4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279769912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279769904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279769920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279769937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279769947518.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279769927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,117.5,514.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_a794f438d47146d5912027e68188aaf4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279769912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279769904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279769920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279769937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279769947518.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279769927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,117.5,514.2>? 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": "f13bd38bf9b64d579a63d4e7d750f592_a794f438d47146d5912027e68188aaf4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279769912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279769904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279769920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279769937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279769947518.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279769927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,117.5,514.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_a794f438d47146d5912027e68188aaf4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279769912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279769904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279769920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279769937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279769947518.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279769927893.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> brake gently to a stop."
            }
        ]
    },
    {
        "id": "f13bd38bf9b64d579a63d4e7d750f592_a794f438d47146d5912027e68188aaf4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279769912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279769904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279769920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279769937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279769947518.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279769927893.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": "69295e26c8d146de94ea5307d8d74819_063771868db44d1e91cee54dacdbc043_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622143162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622143154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622143170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622143187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622143197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622143178113.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 white SUV to the back right of the ego vehicle, a black SUV to the front right of the ego vehicle, and a pedestrian to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,585.0,508.3>, <c2,CAM_BACK_RIGHT,714.2,580.8>, <c3,CAM_FRONT_RIGHT,268.3,500.8>, and <c4,CAM_BACK_RIGHT,1200.0,597.5>."
            }
        ]
    },
    {
        "id": "69295e26c8d146de94ea5307d8d74819_063771868db44d1e91cee54dacdbc043_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622143162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622143154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622143170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622143187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622143197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622143178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,585.0,508.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "69295e26c8d146de94ea5307d8d74819_063771868db44d1e91cee54dacdbc043_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622143162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622143154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622143170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622143187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622143197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622143178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,585.0,508.3>? 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": "69295e26c8d146de94ea5307d8d74819_063771868db44d1e91cee54dacdbc043_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622143162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622143154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622143170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622143187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622143197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622143178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,585.0,508.3>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane can lead to a collision with <c1,CAM_FRONT,585.0,508.3>."
            }
        ]
    },
    {
        "id": "69295e26c8d146de94ea5307d8d74819_063771868db44d1e91cee54dacdbc043_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622143162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622143154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622143170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622143187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622143197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622143178113.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": "Accelerate and go ahead, and keep going at the same speed."
            }
        ]
    },
    {
        "id": "69295e26c8d146de94ea5307d8d74819_063771868db44d1e91cee54dacdbc043_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622143162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622143154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622143170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622143187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622143197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622143178113.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": "2bfb95d8ba3a4c11869f4d6635784640_126177e74e854a329384e3933dbb4af2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193834662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193834654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193834670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193834687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193834697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193834677893.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 unable to confirm to the back of the ego vehicle, a unable to confirm to the front of the ego vehicle, and a straight or left turn arrow to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,805.8,495.8>, <c2,CAM_FRONT,1079.7,451.1>, and <c3,CAM_BACK,909.4,775.1>."
            }
        ]
    },
    {
        "id": "2bfb95d8ba3a4c11869f4d6635784640_126177e74e854a329384e3933dbb4af2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193834662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193834654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193834670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193834687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193834697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193834677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,805.8,495.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2bfb95d8ba3a4c11869f4d6635784640_126177e74e854a329384e3933dbb4af2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193834662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193834654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193834670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193834687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193834697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193834677893.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 <c3,CAM_BACK,909.4,775.1>; the object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_BACK,805.8,495.8>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT,1079.7,451.1>; the object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "2bfb95d8ba3a4c11869f4d6635784640_126177e74e854a329384e3933dbb4af2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193834662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193834654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193834670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193834687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193834697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193834677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,805.8,495.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2bfb95d8ba3a4c11869f4d6635784640_126177e74e854a329384e3933dbb4af2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193834662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193834654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193834670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193834687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193834697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193834677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,805.8,495.8>? 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": "2bfb95d8ba3a4c11869f4d6635784640_126177e74e854a329384e3933dbb4af2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193834662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193834654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193834670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193834687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193834697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193834677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,805.8,495.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "2bfb95d8ba3a4c11869f4d6635784640_126177e74e854a329384e3933dbb4af2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193834662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193834654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193834670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193834687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193834697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193834677893.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": "2bfb95d8ba3a4c11869f4d6635784640_126177e74e854a329384e3933dbb4af2_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193834662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193834654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193834670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193834687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193834697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542193834677893.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": "c133e78e55ae487c821803a3b183d1ab_b0efde8221ad426287d6bfd424ae0ac7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573090912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573090904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573090920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573090937707.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573090947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573090928113.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 crossing the road to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, and a blue traffic sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,65.0,545.0>, <c2,CAM_BACK,863.3,510.8>, and <c3,CAM_FRONT,1053.3,459.4>."
            }
        ]
    },
    {
        "id": "c133e78e55ae487c821803a3b183d1ab_b0efde8221ad426287d6bfd424ae0ac7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573090912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573090904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573090920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573090937707.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573090947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573090928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,65.0,545.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c133e78e55ae487c821803a3b183d1ab_b0efde8221ad426287d6bfd424ae0ac7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573090912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573090904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573090920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573090937707.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573090947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573090928113.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 <c1,CAM_FRONT,65.0,545.0>. The object is going ahead, so the ego vehicle should slow down and continue going ahead. Secondly, notice <c3,CAM_FRONT,1053.3,459.4>. The object is a traffic sign, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c2,CAM_BACK,863.3,510.8>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "c133e78e55ae487c821803a3b183d1ab_b0efde8221ad426287d6bfd424ae0ac7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573090912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573090904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573090920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573090937707.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573090947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573090928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,65.0,545.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c133e78e55ae487c821803a3b183d1ab_b0efde8221ad426287d6bfd424ae0ac7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573090912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573090904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573090920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573090937707.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573090947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573090928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,65.0,545.0>? 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, which is high probability."
            }
        ]
    },
    {
        "id": "c133e78e55ae487c821803a3b183d1ab_b0efde8221ad426287d6bfd424ae0ac7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573090912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573090904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573090920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573090937707.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573090947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573090928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,65.0,545.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,65.0,545.0>."
            }
        ]
    },
    {
        "id": "c133e78e55ae487c821803a3b183d1ab_b0efde8221ad426287d6bfd424ae0ac7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573090912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573090904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573090920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573090937707.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573090947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573090928113.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": "c133e78e55ae487c821803a3b183d1ab_b0efde8221ad426287d6bfd424ae0ac7_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573090912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573090904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573090920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573090937707.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573090947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573090928113.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": "c133e78e55ae487c821803a3b183d1ab_5bfa67393a914de4b67856b65913bcc9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573081412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573081404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573081420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573081437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573081447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573081428113.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 unable to determine to the front of the ego vehicle, a white SUV to the back left of the ego vehicle, and a black SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1203.3,466.7>, <c2,CAM_BACK_LEFT,447.5,633.3>, and <c3,CAM_BACK,850.8,513.3>."
            }
        ]
    },
    {
        "id": "c133e78e55ae487c821803a3b183d1ab_5bfa67393a914de4b67856b65913bcc9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573081412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573081404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573081420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573081437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573081447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573081428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK_LEFT,447.5,633.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c133e78e55ae487c821803a3b183d1ab_5bfa67393a914de4b67856b65913bcc9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573081412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573081404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573081420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573081437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573081447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573081428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1203.3,466.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c133e78e55ae487c821803a3b183d1ab_5bfa67393a914de4b67856b65913bcc9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573081412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573081404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573081420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573081437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573081447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573081428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1203.3,466.7>? 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": "c133e78e55ae487c821803a3b183d1ab_5bfa67393a914de4b67856b65913bcc9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573081412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573081404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573081420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573081437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573081447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573081428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1203.3,466.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "c133e78e55ae487c821803a3b183d1ab_5bfa67393a914de4b67856b65913bcc9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573081412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573081404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573081420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573081437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573081447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573081428113.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": "c133e78e55ae487c821803a3b183d1ab_5bfa67393a914de4b67856b65913bcc9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573081412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573081404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573081420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573081437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573081447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573081428113.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": "ea9d0ef295c14dafb5653ede3f9f29a1_f87727fd14444a7ebcc9b9887dff6bfb_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657223912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657223904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657223920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657223937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657223947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657223928113.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 gray SUV to the front of the ego vehicle, a man wearing a white shirt to the front right of the ego vehicle, and a man wearing gray pants to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,869.2,533.3>, <c2,CAM_FRONT,862.5,514.2>, <c3,CAM_FRONT_RIGHT,431.7,519.2>, and <c4,CAM_FRONT_LEFT,960.8,555.8>."
            }
        ]
    },
    {
        "id": "ea9d0ef295c14dafb5653ede3f9f29a1_f87727fd14444a7ebcc9b9887dff6bfb_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657223912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657223904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657223920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657223937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657223947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657223928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,869.2,533.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ea9d0ef295c14dafb5653ede3f9f29a1_f87727fd14444a7ebcc9b9887dff6bfb_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657223912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657223904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657223920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657223937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657223947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657223928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,869.2,533.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ea9d0ef295c14dafb5653ede3f9f29a1_f87727fd14444a7ebcc9b9887dff6bfb_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657223912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657223904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657223920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657223937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657223947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657223928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,869.2,533.3>? 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": "ea9d0ef295c14dafb5653ede3f9f29a1_f87727fd14444a7ebcc9b9887dff6bfb_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657223912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657223904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657223920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657223937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657223947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657223928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,869.2,533.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "ea9d0ef295c14dafb5653ede3f9f29a1_f87727fd14444a7ebcc9b9887dff6bfb_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657223912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657223904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657223920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657223937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657223947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657223928113.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 continue ahead."
            }
        ]
    },
    {
        "id": "ea9d0ef295c14dafb5653ede3f9f29a1_f87727fd14444a7ebcc9b9887dff6bfb_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657223912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657223904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657223920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657223937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657223947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657223928113.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": "7ef04cdbd04c4b67a22f59502cb8fac6_0de98987fe07471ba19ad40e57a597a6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729132412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729132404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729132420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729132437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729132447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729132428113.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 black truck to the back of the ego vehicle, a black sedan to the back of the ego vehicle, and a blue sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1065.0,487.5>, <c2,CAM_BACK,512.5,511.7>, <c3,CAM_BACK,828.3,511.7>, and <c4,CAM_FRONT,980.8,482.5>."
            }
        ]
    },
    {
        "id": "7ef04cdbd04c4b67a22f59502cb8fac6_0de98987fe07471ba19ad40e57a597a6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729132412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729132404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729132420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729132437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729132447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729132428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1065.0,487.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7ef04cdbd04c4b67a22f59502cb8fac6_0de98987fe07471ba19ad40e57a597a6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729132412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729132404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729132420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729132437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729132447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729132428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1065.0,487.5>? 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": "7ef04cdbd04c4b67a22f59502cb8fac6_0de98987fe07471ba19ad40e57a597a6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729132412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729132404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729132420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729132437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729132447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729132428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_BACK,828.3,511.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "7ef04cdbd04c4b67a22f59502cb8fac6_0de98987fe07471ba19ad40e57a597a6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729132412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729132404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729132420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729132437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729132447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729132428113.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": "7ef04cdbd04c4b67a22f59502cb8fac6_0de98987fe07471ba19ad40e57a597a6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729132412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729132404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729132420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729132437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729132447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729132428113.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": "7ef04cdbd04c4b67a22f59502cb8fac6_d69a43eded9448e09b19648943739bd3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729135862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729135854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729135870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729135887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729135897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729135878113.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 truck to the back of the ego vehicle, a red car to the back of the ego vehicle, a blue sedan to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,240.8,571.7>, <c2,CAM_BACK,758.3,485.8>, <c3,CAM_BACK,846.7,510.0>, <c4,CAM_FRONT,1105.8,504.2>, and <c5,CAM_FRONT,881.7,465.0>."
            }
        ]
    },
    {
        "id": "7ef04cdbd04c4b67a22f59502cb8fac6_d69a43eded9448e09b19648943739bd3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729135862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729135854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729135870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729135887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729135897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729135878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,846.7,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7ef04cdbd04c4b67a22f59502cb8fac6_d69a43eded9448e09b19648943739bd3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729135862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729135854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729135870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729135887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729135897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729135878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,240.8,571.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7ef04cdbd04c4b67a22f59502cb8fac6_d69a43eded9448e09b19648943739bd3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729135862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729135854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729135870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729135887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729135897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729135878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,240.8,571.7>? 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": "7ef04cdbd04c4b67a22f59502cb8fac6_d69a43eded9448e09b19648943739bd3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729135862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729135854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729135870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729135887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729135897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729135878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,240.8,571.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "7ef04cdbd04c4b67a22f59502cb8fac6_d69a43eded9448e09b19648943739bd3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729135862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729135854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729135870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729135887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729135897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729135878113.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 proceed."
            }
        ]
    },
    {
        "id": "7ef04cdbd04c4b67a22f59502cb8fac6_d69a43eded9448e09b19648943739bd3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729135862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729135854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729135870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729135887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729135897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729135878113.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": "7ef04cdbd04c4b67a22f59502cb8fac6_d27f80f74a6149dc80fb044706858f59_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729123912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729123904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729123920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729123937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729123947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729123928113.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 cone bucket to the front of the ego vehicle, a black truck to the front of the ego vehicle, and a black truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,738.3,489.2>, <c2,CAM_FRONT,1580.0,730.0>, <c3,CAM_FRONT,1336.7,533.3>, and <c4,CAM_FRONT,910.0,467.5>."
            }
        ]
    },
    {
        "id": "7ef04cdbd04c4b67a22f59502cb8fac6_d27f80f74a6149dc80fb044706858f59_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729123912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729123904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729123920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729123937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729123947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729123928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,738.3,489.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7ef04cdbd04c4b67a22f59502cb8fac6_d27f80f74a6149dc80fb044706858f59_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729123912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729123904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729123920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729123937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729123947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729123928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,738.3,489.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7ef04cdbd04c4b67a22f59502cb8fac6_d27f80f74a6149dc80fb044706858f59_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729123912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729123904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729123920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729123937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729123947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729123928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,738.3,489.2>? 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": "7ef04cdbd04c4b67a22f59502cb8fac6_d27f80f74a6149dc80fb044706858f59_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729123912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729123904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729123920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729123937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729123947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729123928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,738.3,489.2>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "7ef04cdbd04c4b67a22f59502cb8fac6_d27f80f74a6149dc80fb044706858f59_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729123912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729123904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729123920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729123937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729123947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729123928113.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": "7ef04cdbd04c4b67a22f59502cb8fac6_d27f80f74a6149dc80fb044706858f59_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729123912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729123904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729123920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729123937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729123947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729123928113.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": "ab7f4909bc6c4841a12020355a7d505c_1be4c51cd9e44eca9c05461682a34882_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385123662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385123654908.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385123670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385123687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385123697407.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385123678113.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 bronze car to the back of the ego vehicle, a pedestrian wearing a vest 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 <c1,CAM_BACK,863.3,503.3>, <c2,CAM_FRONT_RIGHT,765.8,565.8>, and <c3,CAM_FRONT,1454.2,545.8>."
            }
        ]
    },
    {
        "id": "ab7f4909bc6c4841a12020355a7d505c_1be4c51cd9e44eca9c05461682a34882_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385123662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385123654908.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385123670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385123687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385123697407.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385123678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,863.3,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ab7f4909bc6c4841a12020355a7d505c_1be4c51cd9e44eca9c05461682a34882_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385123662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385123654908.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385123670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385123687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385123697407.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385123678113.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 <c2,CAM_FRONT_RIGHT,765.8,565.8>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c3,CAM_FRONT,1454.2,545.8>. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_BACK,863.3,503.3>. It is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "ab7f4909bc6c4841a12020355a7d505c_1be4c51cd9e44eca9c05461682a34882_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385123662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385123654908.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385123670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385123687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385123697407.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385123678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,863.3,503.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ab7f4909bc6c4841a12020355a7d505c_1be4c51cd9e44eca9c05461682a34882_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385123662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385123654908.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385123670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385123687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385123697407.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385123678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,863.3,503.3>? 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": "ab7f4909bc6c4841a12020355a7d505c_1be4c51cd9e44eca9c05461682a34882_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385123662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385123654908.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385123670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385123687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385123697407.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385123678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,863.3,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "ab7f4909bc6c4841a12020355a7d505c_1be4c51cd9e44eca9c05461682a34882_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385123662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385123654908.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385123670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385123687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385123697407.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385123678113.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": "ab7f4909bc6c4841a12020355a7d505c_1be4c51cd9e44eca9c05461682a34882_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385123662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385123654908.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385123670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385123687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385123697407.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385123678113.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": "b0525843a3b0463f91d715deff733b8f_8961e33c55b94f25b8309fad36dc0e32_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573186162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573186154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573186170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573186187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573186197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573186178113.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 sedan to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,894.2,543.3>, <c2,CAM_FRONT,1360.8,592.5>, and <c3,CAM_FRONT,944.2,427.0>."
            }
        ]
    },
    {
        "id": "b0525843a3b0463f91d715deff733b8f_8961e33c55b94f25b8309fad36dc0e32_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573186162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573186154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573186170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573186187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573186197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573186178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,894.2,543.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b0525843a3b0463f91d715deff733b8f_8961e33c55b94f25b8309fad36dc0e32_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573186162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573186154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573186170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573186187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573186197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573186178113.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 <c2,CAM_FRONT,1360.8,592.5>. The object is going ahead, so the ego vehicle should slow down and go ahead. Secondly, notice that <c3,CAM_FRONT,944.2,427.0>. The object is a traffic sign, so the ego vehicle should decelerate gradually until it comes to a stop. Thirdly, notice that <c1,CAM_BACK,894.2,543.3>. The object is going ahead, so the ego vehicle should slow down and go ahead."
            }
        ]
    },
    {
        "id": "b0525843a3b0463f91d715deff733b8f_8961e33c55b94f25b8309fad36dc0e32_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573186162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573186154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573186170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573186187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573186197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573186178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,894.2,543.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b0525843a3b0463f91d715deff733b8f_8961e33c55b94f25b8309fad36dc0e32_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573186162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573186154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573186170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573186187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573186197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573186178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,894.2,543.3>? 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": "b0525843a3b0463f91d715deff733b8f_8961e33c55b94f25b8309fad36dc0e32_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573186162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573186154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573186170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573186187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573186197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573186178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,894.2,543.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "b0525843a3b0463f91d715deff733b8f_8961e33c55b94f25b8309fad36dc0e32_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573186162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573186154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573186170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573186187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573186197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573186178113.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": "b0525843a3b0463f91d715deff733b8f_8961e33c55b94f25b8309fad36dc0e32_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573186162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573186154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573186170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573186187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573186197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573186178113.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": "3ace9decdd1f4ea0915b9862c95ca128_dc8f0646f77f4dbead65f5ccfacafa19_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800935912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800935904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800935920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800935937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800935947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800935927893.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 micro truck to the back of the ego vehicle, a gray sedan to the front of the ego vehicle, a white sedan to the front left of the ego vehicle, a white small truck to the back of the ego vehicle, and a left turn landmark line to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,693.3,646.7>, <c2,CAM_FRONT,1514.2,582.5>, <c3,CAM_FRONT_LEFT,1247.5,644.2>, <c4,CAM_BACK,1202.5,605.8>, and <c5,CAM_FRONT,628.4,566.3>."
            }
        ]
    },
    {
        "id": "3ace9decdd1f4ea0915b9862c95ca128_dc8f0646f77f4dbead65f5ccfacafa19_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800935912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800935904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800935920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800935937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800935947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800935927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,693.3,646.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3ace9decdd1f4ea0915b9862c95ca128_dc8f0646f77f4dbead65f5ccfacafa19_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800935912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800935904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800935920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800935937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800935947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800935927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,693.3,646.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3ace9decdd1f4ea0915b9862c95ca128_dc8f0646f77f4dbead65f5ccfacafa19_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800935912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800935904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800935920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800935937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800935947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800935927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,693.3,646.7>? 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": "3ace9decdd1f4ea0915b9862c95ca128_dc8f0646f77f4dbead65f5ccfacafa19_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800935912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800935904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800935920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800935937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800935947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800935927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,693.3,646.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "3ace9decdd1f4ea0915b9862c95ca128_dc8f0646f77f4dbead65f5ccfacafa19_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800935912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800935904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800935920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800935937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800935947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800935927893.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": "3ace9decdd1f4ea0915b9862c95ca128_dc8f0646f77f4dbead65f5ccfacafa19_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800935912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800935904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800935920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800935937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800935947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800935927893.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": "d83994e61a1b431cacf34931801d0c78_21deb65c6ce7420a809ac4cf8f9c9ce4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985826412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985826404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985826420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985826437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985826447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985826427893.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 of the ego vehicle, a yellow and black sign to the front of the ego vehicle, and a white English to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,747.5,562.5>, <c2,CAM_FRONT,89.9,390.3>, and <c3,CAM_FRONT,977.1,654.5>."
            }
        ]
    },
    {
        "id": "d83994e61a1b431cacf34931801d0c78_21deb65c6ce7420a809ac4cf8f9c9ce4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985826412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985826404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985826420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985826437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985826447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985826427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,747.5,562.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "d83994e61a1b431cacf34931801d0c78_21deb65c6ce7420a809ac4cf8f9c9ce4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985826412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985826404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985826420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985826437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985826447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985826427893.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 <c2,CAM_FRONT,89.9,390.3>. It is a traffic sign, so the ego vehicle should turn right. Secondly, notice <c3,CAM_FRONT,977.1,654.5>. It is also a traffic sign, so the ego vehicle should turn right. Thirdly, notice <c1,CAM_BACK,747.5,562.5>. It is turning right, so the ego vehicle should turn right."
            }
        ]
    },
    {
        "id": "d83994e61a1b431cacf34931801d0c78_21deb65c6ce7420a809ac4cf8f9c9ce4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985826412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985826404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985826420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985826437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985826447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985826427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,747.5,562.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d83994e61a1b431cacf34931801d0c78_21deb65c6ce7420a809ac4cf8f9c9ce4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985826412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985826404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985826420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985826437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985826447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985826427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,747.5,562.5>? 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 is high."
            }
        ]
    },
    {
        "id": "d83994e61a1b431cacf34931801d0c78_21deb65c6ce7420a809ac4cf8f9c9ce4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985826412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985826404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985826420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985826437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985826447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985826427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,747.5,562.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "d83994e61a1b431cacf34931801d0c78_21deb65c6ce7420a809ac4cf8f9c9ce4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985826412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985826404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985826420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985826437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985826447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985826427893.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": "d83994e61a1b431cacf34931801d0c78_21deb65c6ce7420a809ac4cf8f9c9ce4_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985826412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985826404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985826420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985826437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985826447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985826427893.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 very fast."
            }
        ]
    },
    {
        "id": "d83994e61a1b431cacf34931801d0c78_c94ccdbc121b402c8b9e5030aa2b4667_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985814412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985814404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985814420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985814437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985814447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985814427893.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 signboard to the front of the ego vehicle, and a gray roadblock to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,803.3,549.2>, <c2,CAM_FRONT,819.3,477.6>, and <c3,CAM_FRONT_LEFT,1122.3,639.8>."
            }
        ]
    },
    {
        "id": "d83994e61a1b431cacf34931801d0c78_c94ccdbc121b402c8b9e5030aa2b4667_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985814412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985814404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985814420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985814437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985814447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985814427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,803.3,549.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d83994e61a1b431cacf34931801d0c78_c94ccdbc121b402c8b9e5030aa2b4667_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985814412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985814404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985814420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985814437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985814447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985814427893.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 <c3,CAM_FRONT_LEFT,1122.3,639.8>. The object is a traffic cone, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,819.3,477.6>. The object is a traffic sign, so the ego vehicle should turn right. Thirdly, notice that <c1,CAM_BACK,803.3,549.2>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "d83994e61a1b431cacf34931801d0c78_c94ccdbc121b402c8b9e5030aa2b4667_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985814412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985814404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985814420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985814437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985814447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985814427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,803.3,549.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d83994e61a1b431cacf34931801d0c78_c94ccdbc121b402c8b9e5030aa2b4667_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985814412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985814404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985814420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985814437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985814447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985814427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,803.3,549.2>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "d83994e61a1b431cacf34931801d0c78_c94ccdbc121b402c8b9e5030aa2b4667_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985814412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985814404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985814420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985814437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985814447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985814427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,803.3,549.2>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "d83994e61a1b431cacf34931801d0c78_c94ccdbc121b402c8b9e5030aa2b4667_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985814412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985814404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985814420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985814437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985814447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985814427893.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": "d83994e61a1b431cacf34931801d0c78_c94ccdbc121b402c8b9e5030aa2b4667_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985814412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985814404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985814420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985814437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985814447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985814427893.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": "35c3bc100e4b4e5089820986d3f50fa3_9638a2584e5a4bf5aa6069ee906a376d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385196612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385196604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385196620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385196637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385196647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385196628113.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 gray shirt to the back left of the ego vehicle, a white sedan to the front of the ego vehicle, and a black car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,509.2,550.0>, <c2,CAM_FRONT,699.2,480.0>, and <c3,CAM_BACK,866.7,510.8>."
            }
        ]
    },
    {
        "id": "35c3bc100e4b4e5089820986d3f50fa3_9638a2584e5a4bf5aa6069ee906a376d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385196612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385196604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385196620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385196637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385196647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385196628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_LEFT,509.2,550.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "35c3bc100e4b4e5089820986d3f50fa3_9638a2584e5a4bf5aa6069ee906a376d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385196612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385196604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385196620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385196637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385196647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385196628113.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 <c2,CAM_FRONT,699.2,480.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_BACK,866.7,510.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK_LEFT,509.2,550.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "35c3bc100e4b4e5089820986d3f50fa3_9638a2584e5a4bf5aa6069ee906a376d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385196612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385196604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385196620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385196637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385196647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385196628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,509.2,550.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "35c3bc100e4b4e5089820986d3f50fa3_9638a2584e5a4bf5aa6069ee906a376d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385196612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385196604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385196620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385196637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385196647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385196628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,509.2,550.0>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "35c3bc100e4b4e5089820986d3f50fa3_9638a2584e5a4bf5aa6069ee906a376d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385196612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385196604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385196620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385196637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385196647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385196628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,509.2,550.0>?"
            },
            {
                "from": "gpt",
                "value": "No actions taken by the ego vehicle will lead to a collision with <c1,CAM_BACK_LEFT,509.2,550.0>."
            }
        ]
    },
    {
        "id": "35c3bc100e4b4e5089820986d3f50fa3_9638a2584e5a4bf5aa6069ee906a376d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385196612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385196604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385196620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385196637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385196647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385196628113.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": "35c3bc100e4b4e5089820986d3f50fa3_9638a2584e5a4bf5aa6069ee906a376d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385196612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385196604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385196620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385196637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385196647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385196628113.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": "35c3bc100e4b4e5089820986d3f50fa3_42a43c2d37e24982bebb135f8f6028ad_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385195612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385195604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385195620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385195637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385195647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385195628113.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 in a black top to the back right of the ego vehicle, a gray shirt pedestrian to the front left of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,793.3,609.2>, <c2,CAM_FRONT_LEFT,80.0,538.3>, and <c3,CAM_BACK,892.5,511.7>."
            }
        ]
    },
    {
        "id": "35c3bc100e4b4e5089820986d3f50fa3_42a43c2d37e24982bebb135f8f6028ad_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385195612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385195604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385195620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385195637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385195647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385195628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,793.3,609.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "35c3bc100e4b4e5089820986d3f50fa3_42a43c2d37e24982bebb135f8f6028ad_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385195612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385195604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385195620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385195637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385195647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385195628113.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 <c2,CAM_FRONT_LEFT,80.0,538.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_BACK,892.5,511.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK_RIGHT,793.3,609.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "35c3bc100e4b4e5089820986d3f50fa3_42a43c2d37e24982bebb135f8f6028ad_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385195612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385195604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385195620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385195637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385195647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385195628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,793.3,609.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "35c3bc100e4b4e5089820986d3f50fa3_42a43c2d37e24982bebb135f8f6028ad_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385195612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385195604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385195620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385195637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385195647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385195628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,793.3,609.2>? 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": "35c3bc100e4b4e5089820986d3f50fa3_42a43c2d37e24982bebb135f8f6028ad_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385195612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385195604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385195620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385195637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385195647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385195628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,80.0,538.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "35c3bc100e4b4e5089820986d3f50fa3_42a43c2d37e24982bebb135f8f6028ad_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385195612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385195604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385195620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385195637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385195647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385195628113.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": "35c3bc100e4b4e5089820986d3f50fa3_42a43c2d37e24982bebb135f8f6028ad_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385195612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385195604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385195620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385195637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385195647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385195628113.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": "09f67057dd8346388b28f79d9bb1cf04_152e3f20b47647a7b6da918c4d69b4b0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.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 left of the ego vehicle, a black SUV to the front right of the ego vehicle, a unclear to the back of the ego vehicle, a white sedan to the front of the ego vehicle, and a red car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,960.0,607.5>, <c2,CAM_FRONT_RIGHT,1072.5,448.3>, <c3,CAM_BACK,727.5,534.2>, <c4,CAM_FRONT,586.7,575.8>, and <c5,CAM_FRONT,919.2,564.2>."
            }
        ]
    },
    {
        "id": "09f67057dd8346388b28f79d9bb1cf04_152e3f20b47647a7b6da918c4d69b4b0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,1072.5,448.3>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "09f67057dd8346388b28f79d9bb1cf04_152e3f20b47647a7b6da918c4d69b4b0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,960.0,607.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "09f67057dd8346388b28f79d9bb1cf04_152e3f20b47647a7b6da918c4d69b4b0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,960.0,607.5>? 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": "09f67057dd8346388b28f79d9bb1cf04_152e3f20b47647a7b6da918c4d69b4b0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,960.0,607.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "09f67057dd8346388b28f79d9bb1cf04_152e3f20b47647a7b6da918c4d69b4b0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "09f67057dd8346388b28f79d9bb1cf04_152e3f20b47647a7b6da918c4d69b4b0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.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 slowly."
            }
        ]
    },
    {
        "id": "09f67057dd8346388b28f79d9bb1cf04_20429667e9904d858e8b71656b164056_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193313512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193313504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193313520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193313537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193313547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193313527893.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 black sedan to the front of the ego vehicle, a person standing still in white clothes to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1106.7,557.5>, <c2,CAM_FRONT,17.5,475.8>, <c3,CAM_FRONT,542.5,501.7>, and <c4,CAM_BACK,1397.5,543.3>."
            }
        ]
    },
    {
        "id": "09f67057dd8346388b28f79d9bb1cf04_20429667e9904d858e8b71656b164056_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193313512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193313504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193313520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193313537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193313547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193313527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1106.7,557.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "09f67057dd8346388b28f79d9bb1cf04_20429667e9904d858e8b71656b164056_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193313512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193313504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193313520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193313537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193313547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193313527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1106.7,557.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "09f67057dd8346388b28f79d9bb1cf04_20429667e9904d858e8b71656b164056_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193313512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193313504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193313520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193313537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193313547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193313527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1106.7,557.5>? 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": "09f67057dd8346388b28f79d9bb1cf04_20429667e9904d858e8b71656b164056_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193313512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193313504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193313520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193313537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193313547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193313527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1106.7,557.5>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "09f67057dd8346388b28f79d9bb1cf04_20429667e9904d858e8b71656b164056_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193313512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193313504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193313520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193313537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193313547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193313527893.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": "09f67057dd8346388b28f79d9bb1cf04_20429667e9904d858e8b71656b164056_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193313512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193313504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193313520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193313537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193313547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193313527893.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": "9f3c8453d03d4df5946444757376b826_919c7e7b94234be9b02b1d2fd9369fc9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287258662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287258654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287258670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287258687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287258697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287258678113.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 back of the ego vehicle, a blue sedan to the front of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,960.0,495.8>, <c2,CAM_FRONT,912.5,486.7>, and <c3,CAM_BACK,870.8,479.2>."
            }
        ]
    },
    {
        "id": "9f3c8453d03d4df5946444757376b826_919c7e7b94234be9b02b1d2fd9369fc9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287258662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287258654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287258670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287258687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287258697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287258678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,960.0,495.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9f3c8453d03d4df5946444757376b826_919c7e7b94234be9b02b1d2fd9369fc9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287258662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287258654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287258670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287258687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287258697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287258678113.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 <c2,CAM_FRONT,912.5,486.7>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_BACK,870.8,479.2>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,960.0,495.8>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "9f3c8453d03d4df5946444757376b826_919c7e7b94234be9b02b1d2fd9369fc9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287258662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287258654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287258670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287258687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287258697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287258678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,960.0,495.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9f3c8453d03d4df5946444757376b826_919c7e7b94234be9b02b1d2fd9369fc9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287258662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287258654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287258670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287258687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287258697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287258678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,960.0,495.8>? 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": "9f3c8453d03d4df5946444757376b826_919c7e7b94234be9b02b1d2fd9369fc9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287258662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287258654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287258670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287258687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287258697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287258678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,960.0,495.8>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,960.0,495.8>."
            }
        ]
    },
    {
        "id": "9f3c8453d03d4df5946444757376b826_919c7e7b94234be9b02b1d2fd9369fc9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287258662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287258654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287258670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287258687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287258697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287258678113.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": "9f3c8453d03d4df5946444757376b826_919c7e7b94234be9b02b1d2fd9369fc9_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287258662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287258654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287258670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287258687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287258697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287258678113.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": "bb73edb93a0a46c4be997c576e9beb61_063e9501cfd046d5a4902dad5b17f8f5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886394662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886394654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886394670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886394687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886394697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886394677893.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 gray small car to the back of the ego vehicle, and a black car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,786.7,461.7>, <c2,CAM_BACK,1120.8,508.3>, and <c3,CAM_BACK,1290.8,510.8>."
            }
        ]
    },
    {
        "id": "bb73edb93a0a46c4be997c576e9beb61_063e9501cfd046d5a4902dad5b17f8f5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886394662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886394654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886394670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886394687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886394697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886394677893.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 <c1,CAM_FRONT,786.7,461.7>. It is stationary, so the ego vehicle should change to the right lane. Secondly, notice <c3,CAM_BACK,1290.8,510.8>. It is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c2,CAM_BACK,1120.8,508.3>. It is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "bb73edb93a0a46c4be997c576e9beb61_063e9501cfd046d5a4902dad5b17f8f5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886394662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886394654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886394670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886394687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886394697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886394677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,786.7,461.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bb73edb93a0a46c4be997c576e9beb61_063e9501cfd046d5a4902dad5b17f8f5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886394662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886394654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886394670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886394687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886394697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886394677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,786.7,461.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to change to the right lane. The reason is to avoid a collision. The probability is high."
            }
        ]
    },
    {
        "id": "bb73edb93a0a46c4be997c576e9beb61_063e9501cfd046d5a4902dad5b17f8f5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886394662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886394654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886394670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886394687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886394697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886394677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,786.7,461.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "bb73edb93a0a46c4be997c576e9beb61_063e9501cfd046d5a4902dad5b17f8f5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886394662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886394654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886394670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886394687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886394697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886394677893.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": "Change to the right lane and continue at the same speed."
            }
        ]
    },
    {
        "id": "bb73edb93a0a46c4be997c576e9beb61_063e9501cfd046d5a4902dad5b17f8f5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886394662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886394654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886394670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886394687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886394697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886394677893.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 with normal speed."
            }
        ]
    },
    {
        "id": "5e30d846d2344ec2addfb664799d1899_1448fe76925e4b2e9833b50fb59e7225_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621831112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621831104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621831120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621831137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621831147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621831128113.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 slight left direction reverse to the back of the ego vehicle, a white SUV to the front left of the ego vehicle, and a black SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,60.0,545.8>, <c2,CAM_BACK,1135.8,494.2>, <c3,CAM_FRONT_LEFT,433.3,605.0>, and <c4,CAM_BACK,846.7,511.7>."
            }
        ]
    },
    {
        "id": "5e30d846d2344ec2addfb664799d1899_1448fe76925e4b2e9833b50fb59e7225_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621831112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621831104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621831120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621831137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621831147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621831128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,846.7,511.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5e30d846d2344ec2addfb664799d1899_1448fe76925e4b2e9833b50fb59e7225_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621831112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621831104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621831120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621831137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621831147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621831128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,60.0,545.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5e30d846d2344ec2addfb664799d1899_1448fe76925e4b2e9833b50fb59e7225_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621831112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621831104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621831120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621831137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621831147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621831128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,60.0,545.8>? 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": "5e30d846d2344ec2addfb664799d1899_1448fe76925e4b2e9833b50fb59e7225_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621831112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621831104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621831120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621831137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621831147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621831128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,60.0,545.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "5e30d846d2344ec2addfb664799d1899_1448fe76925e4b2e9833b50fb59e7225_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621831112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621831104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621831120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621831137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621831147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621831128113.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": "5e30d846d2344ec2addfb664799d1899_1448fe76925e4b2e9833b50fb59e7225_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621831112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621831104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621831120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621831137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621831147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621831128113.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_8b2e4bec46af4a44ae44bf563057d94c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621838662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621838654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621838670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621838687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621838697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621838678113.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 blue shirt to the back left of the ego vehicle, a black sedan to the back of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,1036.7,531.7>, <c2,CAM_BACK,875.0,490.8>, and <c3,CAM_FRONT,345.8,557.5>."
            }
        ]
    },
    {
        "id": "5e30d846d2344ec2addfb664799d1899_8b2e4bec46af4a44ae44bf563057d94c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621838662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621838654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621838670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621838687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621838697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621838678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_LEFT,1036.7,531.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5e30d846d2344ec2addfb664799d1899_8b2e4bec46af4a44ae44bf563057d94c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621838662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621838654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621838670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621838687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621838697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621838678113.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 <c3,CAM_FRONT,345.8,557.5>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c1,CAM_BACK_LEFT,1036.7,531.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,875.0,490.8>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "5e30d846d2344ec2addfb664799d1899_8b2e4bec46af4a44ae44bf563057d94c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621838662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621838654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621838670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621838687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621838697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621838678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,1036.7,531.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5e30d846d2344ec2addfb664799d1899_8b2e4bec46af4a44ae44bf563057d94c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621838662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621838654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621838670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621838687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621838697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621838678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,1036.7,531.7>? 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": "5e30d846d2344ec2addfb664799d1899_8b2e4bec46af4a44ae44bf563057d94c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621838662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621838654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621838670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621838687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621838697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621838678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,1036.7,531.7>?"
            },
            {
                "from": "gpt",
                "value": "None."
            }
        ]
    },
    {
        "id": "5e30d846d2344ec2addfb664799d1899_8b2e4bec46af4a44ae44bf563057d94c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621838662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621838654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621838670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621838687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621838697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621838678113.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": "5e30d846d2344ec2addfb664799d1899_8b2e4bec46af4a44ae44bf563057d94c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621838662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621838654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621838670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621838687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621838697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621838678113.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": "13be0238abba499e95ba4e6404b22223_0d6a183ff9044f48a355e93a3fe9dc49_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297151362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297151354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297151370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297151387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297151397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297151378113.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 yellow cone bucket to the front of the ego vehicle, a gray sedan to the front right of the ego vehicle, a black SUV to the front of the ego vehicle, a black 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 <c1,CAM_FRONT,380.0,565.8>, <c2,CAM_FRONT_RIGHT,872.5,691.5>, <c3,CAM_FRONT,784.2,482.5>, <c4,CAM_BACK,262.2,680.0>, and <c5,CAM_FRONT,1111.3,327.4>."
            }
        ]
    },
    {
        "id": "13be0238abba499e95ba4e6404b22223_0d6a183ff9044f48a355e93a3fe9dc49_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297151362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297151354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297151370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297151387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297151397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297151378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,784.2,482.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "13be0238abba499e95ba4e6404b22223_0d6a183ff9044f48a355e93a3fe9dc49_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297151362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297151354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297151370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297151387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297151397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297151378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,380.0,565.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "13be0238abba499e95ba4e6404b22223_0d6a183ff9044f48a355e93a3fe9dc49_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297151362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297151354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297151370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297151387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297151397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297151378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_FRONT_RIGHT,872.5,691.5>? 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": "13be0238abba499e95ba4e6404b22223_0d6a183ff9044f48a355e93a3fe9dc49_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297151362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297151354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297151370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297151387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297151397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297151378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,872.5,691.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "13be0238abba499e95ba4e6404b22223_0d6a183ff9044f48a355e93a3fe9dc49_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297151362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297151354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297151370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297151387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297151397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297151378113.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 suddenly and turn right."
            }
        ]
    },
    {
        "id": "13be0238abba499e95ba4e6404b22223_0d6a183ff9044f48a355e93a3fe9dc49_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297151362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297151354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297151370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297151387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297151397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297151378113.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": "13be0238abba499e95ba4e6404b22223_4b5d0a26b58c425c8f1615ea4138ca6e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297142912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297142904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297142920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297142937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297142951111.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297142928113.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 traffic cone to the front of the ego vehicle, a white truck to the front of the ego vehicle, a silver sedan to the front right of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,379.2,565.0>, <c2,CAM_FRONT,1325.0,417.5>, <c3,CAM_FRONT_RIGHT,865.2,747.0>, and <c4,CAM_BACK,227.2,680.8>."
            }
        ]
    },
    {
        "id": "13be0238abba499e95ba4e6404b22223_4b5d0a26b58c425c8f1615ea4138ca6e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297142912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297142904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297142920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297142937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297142951111.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297142928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1325.0,417.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "13be0238abba499e95ba4e6404b22223_4b5d0a26b58c425c8f1615ea4138ca6e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297142912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297142904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297142920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297142937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297142951111.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297142928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,379.2,565.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "13be0238abba499e95ba4e6404b22223_4b5d0a26b58c425c8f1615ea4138ca6e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297142912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297142904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297142920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297142937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297142951111.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297142928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_FRONT,1325.0,417.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary, the reason is to follow the traffic rules, high."
            }
        ]
    },
    {
        "id": "13be0238abba499e95ba4e6404b22223_4b5d0a26b58c425c8f1615ea4138ca6e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297142912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297142904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297142920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297142937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297142951111.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297142928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,1325.0,417.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "13be0238abba499e95ba4e6404b22223_4b5d0a26b58c425c8f1615ea4138ca6e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297142912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297142904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297142920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297142937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297142951111.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297142928113.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": "13be0238abba499e95ba4e6404b22223_4b5d0a26b58c425c8f1615ea4138ca6e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297142912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297142904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297142920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297142937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297142951111.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297142928113.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": "670e01eb31b64b509db5290531254203_6f7920553fa1441fb52daf651a72c4da_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.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 green container 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 <c1,CAM_BACK,890.0,500.8>, <c2,CAM_FRONT,887.5,470.8>, and <c3,CAM_FRONT_RIGHT,1376.0,652.9>."
            }
        ]
    },
    {
        "id": "670e01eb31b64b509db5290531254203_6f7920553fa1441fb52daf651a72c4da_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,890.0,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "670e01eb31b64b509db5290531254203_6f7920553fa1441fb52daf651a72c4da_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.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 <c2,CAM_FRONT,887.5,470.8>. The object is stationary, so the ego vehicle should slightly offset to the left in maneuvering. Secondly notice that <c3,CAM_FRONT_RIGHT,1376.0,652.9>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c1,CAM_BACK,890.0,500.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "670e01eb31b64b509db5290531254203_6f7920553fa1441fb52daf651a72c4da_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,890.0,500.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "670e01eb31b64b509db5290531254203_6f7920553fa1441fb52daf651a72c4da_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,890.0,500.8>? 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": "670e01eb31b64b509db5290531254203_6f7920553fa1441fb52daf651a72c4da_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,890.0,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "670e01eb31b64b509db5290531254203_6f7920553fa1441fb52daf651a72c4da_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.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, change to the left lane, and turn left."
            }
        ]
    },
    {
        "id": "670e01eb31b64b509db5290531254203_6f7920553fa1441fb52daf651a72c4da_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.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": "670e01eb31b64b509db5290531254203_772d4ecf70a14ce6b2daaefd972d525d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621764162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621764154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621764170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621764187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621764197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621764178113.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 green container to the front right of the ego vehicle, and a black sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,964.2,520.0>, <c2,CAM_FRONT_RIGHT,620.7,485.0>, and <c3,CAM_BACK_RIGHT,1030.8,604.2>."
            }
        ]
    },
    {
        "id": "670e01eb31b64b509db5290531254203_772d4ecf70a14ce6b2daaefd972d525d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621764162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621764154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621764170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621764187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621764197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621764178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,964.2,520.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "670e01eb31b64b509db5290531254203_772d4ecf70a14ce6b2daaefd972d525d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621764162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621764154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621764170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621764187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621764197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621764178113.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 <c2,CAM_FRONT_RIGHT,620.7,485.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_BACK_RIGHT,1030.8,604.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,964.2,520.0>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "670e01eb31b64b509db5290531254203_772d4ecf70a14ce6b2daaefd972d525d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621764162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621764154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621764170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621764187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621764197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621764178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,964.2,520.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "670e01eb31b64b509db5290531254203_772d4ecf70a14ce6b2daaefd972d525d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621764162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621764154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621764170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621764187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621764197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621764178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,964.2,520.0>? 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 is high."
            }
        ]
    },
    {
        "id": "670e01eb31b64b509db5290531254203_772d4ecf70a14ce6b2daaefd972d525d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621764162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621764154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621764170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621764187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621764197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621764178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,964.2,520.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "670e01eb31b64b509db5290531254203_772d4ecf70a14ce6b2daaefd972d525d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621764162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621764154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621764170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621764187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621764197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621764178113.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": "670e01eb31b64b509db5290531254203_772d4ecf70a14ce6b2daaefd972d525d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621764162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621764154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621764170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621764187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621764197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621764178113.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 with normal speed."
            }
        ]
    },
    {
        "id": "dbfd4af0e0d744858e796ec69826e673_e808f2c16d6946d5bc6d04748ed4b579_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731305662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731305654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731305670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731305687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731305697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731305678124.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 pickup truck to the back of the ego vehicle, a white sedan to the front right of the ego vehicle, pedestrians crossing the road to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a silver SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,642.8,515.7>, <c2,CAM_FRONT_RIGHT,149.2,555.8>, <c3,CAM_FRONT,1115.8,517.5>, <c4,CAM_BACK,876.7,540.8>, and <c5,CAM_FRONT,935.0,520.8>."
            }
        ]
    },
    {
        "id": "dbfd4af0e0d744858e796ec69826e673_e808f2c16d6946d5bc6d04748ed4b579_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731305662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731305654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731305670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731305687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731305697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731305678124.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,1115.8,517.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "dbfd4af0e0d744858e796ec69826e673_e808f2c16d6946d5bc6d04748ed4b579_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731305662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731305654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731305670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731305687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731305697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731305678124.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,642.8,515.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "dbfd4af0e0d744858e796ec69826e673_e808f2c16d6946d5bc6d04748ed4b579_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731305662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731305654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731305670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731305687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731305697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731305678124.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,642.8,515.7>? 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 taking this action is to avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "dbfd4af0e0d744858e796ec69826e673_e808f2c16d6946d5bc6d04748ed4b579_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731305662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731305654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731305670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731305687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731305697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731305678124.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,149.2,555.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "dbfd4af0e0d744858e796ec69826e673_e808f2c16d6946d5bc6d04748ed4b579_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731305662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731305654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731305670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731305687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731305697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731305678124.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_e808f2c16d6946d5bc6d04748ed4b579_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731305662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731305654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731305670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731305687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731305697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731305678124.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": "5560a973257e407b8d5bf9fb92b1e0f3_91a55c090344454d86067eae9cf9ca4e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298846612411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298846604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298846620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298846637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298846647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298846628113.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 front of the ego vehicle, a bicycle to the front of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,364.2,540.0>, <c2,CAM_FRONT,1238.3,665.8>, and <c3,CAM_FRONT,881.7,580.8>."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_91a55c090344454d86067eae9cf9ca4e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298846612411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298846604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298846620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298846637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298846647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298846628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,364.2,540.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_91a55c090344454d86067eae9cf9ca4e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298846612411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298846604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298846620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298846637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298846647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298846628113.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 <c3,CAM_FRONT,881.7,580.8>. The object is stationary, so the ego vehicle should remain stationary. Secondly, notice that <c2,CAM_FRONT,1238.3,665.8>. The object is stationary, so the ego vehicle should remain stationary. Thirdly, notice that <c1,CAM_FRONT,364.2,540.0>. The object is moving ahead, so the ego vehicle should remain stationary."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_91a55c090344454d86067eae9cf9ca4e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298846612411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298846604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298846620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298846637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298846647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298846628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,364.2,540.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_91a55c090344454d86067eae9cf9ca4e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298846612411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298846604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298846620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298846637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298846647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298846628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,364.2,540.0>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary because there is no safety issue, with a high probability."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_91a55c090344454d86067eae9cf9ca4e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298846612411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298846604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298846620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298846637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298846647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298846628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,1238.3,665.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_91a55c090344454d86067eae9cf9ca4e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298846612411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298846604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298846620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298846637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298846647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298846628113.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": "5560a973257e407b8d5bf9fb92b1e0f3_91a55c090344454d86067eae9cf9ca4e_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298846612411.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298846604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298846620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298846637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298846647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298846628113.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": "5560a973257e407b8d5bf9fb92b1e0f3_95ada028da894e2db9f4020757d2c31e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298844662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298844654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298844670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298844687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298844697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298844678113.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 blue bicycle to the front of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1240.0,540.8>, <c2,CAM_FRONT,1234.2,668.3>, and <c3,CAM_FRONT,884.2,582.5>."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_95ada028da894e2db9f4020757d2c31e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298844662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298844654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298844670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298844687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298844697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298844678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1240.0,540.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_95ada028da894e2db9f4020757d2c31e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298844662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298844654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298844670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298844687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298844697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298844678113.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 <c2,CAM_FRONT,1234.2,668.3>. The object is stationary, so the ego vehicle should also remain stationary. Secondly, notice that <c3,CAM_FRONT,884.2,582.5>. The object is also stationary, so the ego vehicle should continue to remain stationary. Thirdly, notice that <c1,CAM_BACK,1240.0,540.8>. The object is moving ahead, so the ego vehicle should remain stationary remain stationary."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_95ada028da894e2db9f4020757d2c31e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298844662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298844654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298844670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298844687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298844697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298844678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1240.0,540.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_95ada028da894e2db9f4020757d2c31e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298844662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298844654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298844670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298844687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298844697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298844678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1240.0,540.8>? 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": "5560a973257e407b8d5bf9fb92b1e0f3_95ada028da894e2db9f4020757d2c31e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298844662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298844654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298844670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298844687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298844697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298844678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1240.0,540.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_95ada028da894e2db9f4020757d2c31e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298844662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298844654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298844670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298844687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298844697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298844678113.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": "5560a973257e407b8d5bf9fb92b1e0f3_95ada028da894e2db9f4020757d2c31e_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298844662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298844654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298844670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298844687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298844697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298844678113.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": "5560a973257e407b8d5bf9fb92b1e0f3_782ec2ef376b4443951bd662fd664296_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298856112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298856104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298856120490.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298856137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298856147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298856128113.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 bicycle to the front of the ego vehicle, a black SUV to the front right of the ego vehicle, a yellow SUV to the front of the ego vehicle, and a black SUV to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1453.3,543.3>, <c2,CAM_FRONT_RIGHT,239.2,585.0>, <c3,CAM_FRONT,1259.2,515.8>, and <c4,CAM_BACK_RIGHT,1165.8,664.2>."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_782ec2ef376b4443951bd662fd664296_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298856112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298856104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298856120490.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298856137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298856147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298856128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1453.3,543.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_782ec2ef376b4443951bd662fd664296_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298856112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298856104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298856120490.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298856137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298856147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298856128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1453.3,543.3>? 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 in probability."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_782ec2ef376b4443951bd662fd664296_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298856112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298856104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298856120490.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298856137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298856147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298856128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1453.3,543.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "5560a973257e407b8d5bf9fb92b1e0f3_782ec2ef376b4443951bd662fd664296_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298856112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298856104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298856120490.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298856137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298856147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298856128113.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": "5560a973257e407b8d5bf9fb92b1e0f3_782ec2ef376b4443951bd662fd664296_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298856112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298856104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298856120490.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298856137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298856147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298856128113.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": "9a81caa3d5134d7f87ee4786ccef68f7_8b42cdb43ffa4821b3e80a3f6b503290_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402280662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402280654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402280670739.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402280687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402280697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402280677893.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 preparing to cross the road to the front right of the ego vehicle, a pedestrian to the front right of the ego vehicle, a white truck to the front of the ego vehicle, a pedestrian to the front of the ego vehicle, and a pedestrian to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,210.8,559.2>, <c2,CAM_FRONT_RIGHT,1280.0,577.5>, <c3,CAM_FRONT,895.8,484.2>, <c4,CAM_FRONT,659.2,513.3>, and <c5,CAM_FRONT,553.3,517.5>."
            }
        ]
    },
    {
        "id": "9a81caa3d5134d7f87ee4786ccef68f7_8b42cdb43ffa4821b3e80a3f6b503290_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402280662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402280654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402280670739.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402280687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402280697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402280677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,210.8,559.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9a81caa3d5134d7f87ee4786ccef68f7_8b42cdb43ffa4821b3e80a3f6b503290_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402280662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402280654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402280670739.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402280687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402280697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402280677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,210.8,559.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9a81caa3d5134d7f87ee4786ccef68f7_8b42cdb43ffa4821b3e80a3f6b503290_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402280662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402280654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402280670739.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402280687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402280697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402280677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,210.8,559.2>? 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_8b42cdb43ffa4821b3e80a3f6b503290_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402280662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402280654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402280670739.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402280687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402280697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402280677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,210.8,559.2>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "9a81caa3d5134d7f87ee4786ccef68f7_8b42cdb43ffa4821b3e80a3f6b503290_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402280662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402280654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402280670739.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402280687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402280697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402280677893.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, slightly offset to the right, change to the right lane, brake suddenly, slightly offset to the left."
            }
        ]
    },
    {
        "id": "9a81caa3d5134d7f87ee4786ccef68f7_8b42cdb43ffa4821b3e80a3f6b503290_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402280662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402280654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402280670739.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402280687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402280697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402280677893.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": "da783af4b5124333911684dbaf31d969_59438fb4ca9e4bf69572efb6e71ff0a7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729315412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729315404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729315420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729315437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729315447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729315428113.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 right of the ego vehicle, a black sedan to the front of the ego vehicle, a black car to the front left of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1110.8,650.8>, <c2,CAM_FRONT,1040.8,499.2>, <c3,CAM_FRONT_LEFT,724.2,607.5>, and <c4,CAM_FRONT,924.4,332.5>."
            }
        ]
    },
    {
        "id": "da783af4b5124333911684dbaf31d969_59438fb4ca9e4bf69572efb6e71ff0a7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729315412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729315404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729315420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729315437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729315447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729315428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1110.8,650.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "da783af4b5124333911684dbaf31d969_59438fb4ca9e4bf69572efb6e71ff0a7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729315412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729315404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729315420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729315437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729315447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729315428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1110.8,650.8>? 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": "da783af4b5124333911684dbaf31d969_59438fb4ca9e4bf69572efb6e71ff0a7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729315412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729315404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729315420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729315437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729315447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729315428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1110.8,650.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "da783af4b5124333911684dbaf31d969_59438fb4ca9e4bf69572efb6e71ff0a7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729315412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729315404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729315420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729315437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729315447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729315428113.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."
            }
        ]
    },
    {
        "id": "da783af4b5124333911684dbaf31d969_59438fb4ca9e4bf69572efb6e71ff0a7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729315412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729315404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729315420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729315437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729315447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729315428113.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": "da783af4b5124333911684dbaf31d969_77322166d9924b45b1531dfeaf193683_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729309912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729309904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729309920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729309937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729309947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729309928113.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 right of the ego vehicle, a person wearing gray clothes to the front of the ego vehicle, and a gray and white bicycle to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,750.8,524.2>, <c2,CAM_FRONT,297.5,542.5>, and <c3,CAM_FRONT_LEFT,468.3,622.5>."
            }
        ]
    },
    {
        "id": "da783af4b5124333911684dbaf31d969_77322166d9924b45b1531dfeaf193683_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729309912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729309904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729309920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729309937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729309947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729309928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,297.5,542.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "da783af4b5124333911684dbaf31d969_77322166d9924b45b1531dfeaf193683_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729309912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729309904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729309920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729309937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729309947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729309928113.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 <c2,CAM_FRONT,297.5,542.5>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c1,CAM_FRONT_RIGHT,750.8,524.2>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c3,CAM_FRONT_LEFT,468.3,622.5>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "da783af4b5124333911684dbaf31d969_77322166d9924b45b1531dfeaf193683_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729309912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729309904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729309920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729309937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729309947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729309928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,750.8,524.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "da783af4b5124333911684dbaf31d969_77322166d9924b45b1531dfeaf193683_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729309912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729309904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729309920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729309937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729309947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729309928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,750.8,524.2>? 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": "da783af4b5124333911684dbaf31d969_77322166d9924b45b1531dfeaf193683_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729309912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729309904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729309920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729309937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729309947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729309928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,750.8,524.2>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "da783af4b5124333911684dbaf31d969_77322166d9924b45b1531dfeaf193683_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729309912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729309904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729309920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729309937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729309947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729309928113.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."
            }
        ]
    },
    {
        "id": "da783af4b5124333911684dbaf31d969_77322166d9924b45b1531dfeaf193683_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729309912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729309904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729309920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729309937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729309947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729309928113.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": "3e1f0257a4b8457486651de2d16b61ab_e22f3d9509ce440d848b2ff1a534a562_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297886362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297886354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297886370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297886387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297886397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297886378113.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 front left of the ego vehicle, a silver van to the back right of the ego vehicle, a black sedan to the front of the ego vehicle, a black bus to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a no entry to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,937.5,639.2>, <c2,CAM_BACK_RIGHT,847.5,465.8>, <c3,CAM_FRONT,785.0,525.8>, <c4,CAM_FRONT,1150.8,451.7>, <c5,CAM_BACK,935.8,682.5>, and <c6,CAM_FRONT,773.1,369.9>."
            }
        ]
    },
    {
        "id": "3e1f0257a4b8457486651de2d16b61ab_e22f3d9509ce440d848b2ff1a534a562_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297886362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297886354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297886370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297886387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297886397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297886378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,937.5,639.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3e1f0257a4b8457486651de2d16b61ab_e22f3d9509ce440d848b2ff1a534a562_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297886362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297886354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297886370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297886387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297886397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297886378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,937.5,639.2>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "3e1f0257a4b8457486651de2d16b61ab_e22f3d9509ce440d848b2ff1a534a562_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297886362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297886354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297886370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297886387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297886397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297886378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,937.5,639.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "3e1f0257a4b8457486651de2d16b61ab_e22f3d9509ce440d848b2ff1a534a562_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297886362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297886354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297886370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297886387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297886397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297886378113.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": "3e1f0257a4b8457486651de2d16b61ab_e22f3d9509ce440d848b2ff1a534a562_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297886362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297886354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297886370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297886387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297886397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297886378113.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": "5557f4edc1464442812293e2ea90a586_a6345d0a7d9d454ca735feb8639aaf08_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153671362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153671354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153671370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153671387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153671397416.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153671378113.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 black car to the front of the ego vehicle, a white sedan to the front of the ego vehicle, and a white truck to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,51.7,376.7>, <c2,CAM_FRONT,1158.3,497.5>, <c3,CAM_FRONT,860.8,490.0>, and <c4,CAM_FRONT_RIGHT,1012.5,385.8>."
            }
        ]
    },
    {
        "id": "5557f4edc1464442812293e2ea90a586_a6345d0a7d9d454ca735feb8639aaf08_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153671362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153671354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153671370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153671387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153671397416.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153671378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,51.7,376.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5557f4edc1464442812293e2ea90a586_a6345d0a7d9d454ca735feb8639aaf08_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153671362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153671354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153671370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153671387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153671397416.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153671378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,51.7,376.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5557f4edc1464442812293e2ea90a586_a6345d0a7d9d454ca735feb8639aaf08_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153671362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153671354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153671370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153671387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153671397416.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153671378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,51.7,376.7>? 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": "5557f4edc1464442812293e2ea90a586_a6345d0a7d9d454ca735feb8639aaf08_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153671362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153671354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153671370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153671387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153671397416.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153671378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,51.7,376.7>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "5557f4edc1464442812293e2ea90a586_a6345d0a7d9d454ca735feb8639aaf08_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153671362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153671354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153671370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153671387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153671397416.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153671378113.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": "5557f4edc1464442812293e2ea90a586_a6345d0a7d9d454ca735feb8639aaf08_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153671362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153671354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153671370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153671387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153671397416.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153671378113.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": "5557f4edc1464442812293e2ea90a586_dd5ee2902c8f4fbda194166b113fa1d5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153685362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153685354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153685370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153685387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153685397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153685378113.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 old man in a white shirt to the back right of the ego vehicle, a silver sedan to the front right of the ego vehicle, and a white truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,385.0,510.0>, <c2,CAM_BACK_RIGHT,1242.5,613.3>, <c3,CAM_FRONT_RIGHT,492.5,470.0>, and <c4,CAM_FRONT_LEFT,459.4,405.1>."
            }
        ]
    },
    {
        "id": "5557f4edc1464442812293e2ea90a586_dd5ee2902c8f4fbda194166b113fa1d5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153685362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153685354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153685370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153685387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153685397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153685378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,385.0,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5557f4edc1464442812293e2ea90a586_dd5ee2902c8f4fbda194166b113fa1d5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153685362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153685354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153685370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153685387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153685397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153685378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,385.0,510.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5557f4edc1464442812293e2ea90a586_dd5ee2902c8f4fbda194166b113fa1d5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153685362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153685354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153685370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153685387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153685397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153685378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,385.0,510.0>? 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": "5557f4edc1464442812293e2ea90a586_dd5ee2902c8f4fbda194166b113fa1d5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153685362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153685354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153685370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153685387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153685397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153685378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,385.0,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "5557f4edc1464442812293e2ea90a586_dd5ee2902c8f4fbda194166b113fa1d5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153685362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153685354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153685370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153685387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153685397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153685378113.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": "5557f4edc1464442812293e2ea90a586_dd5ee2902c8f4fbda194166b113fa1d5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153685362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153685354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153685370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153685387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153685397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153685378113.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 slowly."
            }
        ]
    },
    {
        "id": "cd9db61edff14e8784678abb347cd674_2598f0a9b1ca453083c5bf5aba8ce508_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798778162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798778154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798778170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798778187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798778197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798778177893.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 red car to the front of the ego vehicle, a white sedan to the back right of the ego vehicle, a silver sedan to the front of the ego vehicle, and a person riding a bike to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,896.7,642.5>, <c2,CAM_FRONT,1276.7,566.7>, <c3,CAM_BACK_RIGHT,1069.2,689.2>, <c4,CAM_FRONT,877.5,755.0>, and <c5,CAM_BACK,345.8,691.7>."
            }
        ]
    },
    {
        "id": "cd9db61edff14e8784678abb347cd674_2598f0a9b1ca453083c5bf5aba8ce508_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798778162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798778154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798778170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798778187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798778197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798778177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1276.7,566.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cd9db61edff14e8784678abb347cd674_2598f0a9b1ca453083c5bf5aba8ce508_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798778162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798778154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798778170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798778187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798778197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798778177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,896.7,642.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cd9db61edff14e8784678abb347cd674_2598f0a9b1ca453083c5bf5aba8ce508_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798778162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798778154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798778170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798778187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798778197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798778177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,896.7,642.5>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "cd9db61edff14e8784678abb347cd674_2598f0a9b1ca453083c5bf5aba8ce508_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798778162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798778154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798778170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798778187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798778197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798778177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,896.7,642.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "cd9db61edff14e8784678abb347cd674_2598f0a9b1ca453083c5bf5aba8ce508_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798778162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798778154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798778170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798778187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798778197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798778177893.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."
            }
        ]
    },
    {
        "id": "cd9db61edff14e8784678abb347cd674_2598f0a9b1ca453083c5bf5aba8ce508_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798778162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798778154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798778170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798778187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798778197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798778177893.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": "181bf34123514c329e2cef72847607a4_0e4f705254b14ee5ba4336e70ee7277f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731290262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731290254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731290270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731290287568.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731290297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731290278113.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 SUV to the front right of the ego vehicle, and a silver sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1165.8,505.8>, <c2,CAM_FRONT_RIGHT,290.0,577.5>, and <c3,CAM_BACK_RIGHT,1030.8,680.8>."
            }
        ]
    },
    {
        "id": "181bf34123514c329e2cef72847607a4_0e4f705254b14ee5ba4336e70ee7277f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731290262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731290254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731290270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731290287568.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731290297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731290278113.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 <c1,CAM_FRONT,1165.8,505.8>; it is stationary, so the ego vehicle should continue ahead at the same speed. Secondly notice that <c2,CAM_FRONT_RIGHT,290.0,577.5>; it is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly notice that <c3,CAM_BACK_RIGHT,1030.8,680.8>; it is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "181bf34123514c329e2cef72847607a4_0e4f705254b14ee5ba4336e70ee7277f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731290262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731290254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731290270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731290287568.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731290297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731290278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1165.8,505.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "181bf34123514c329e2cef72847607a4_0e4f705254b14ee5ba4336e70ee7277f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731290262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731290254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731290270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731290287568.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731290297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731290278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1165.8,505.8>? 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 in probability."
            }
        ]
    },
    {
        "id": "181bf34123514c329e2cef72847607a4_0e4f705254b14ee5ba4336e70ee7277f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731290262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731290254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731290270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731290287568.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731290297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731290278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1165.8,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "181bf34123514c329e2cef72847607a4_0e4f705254b14ee5ba4336e70ee7277f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731290262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731290254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731290270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731290287568.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731290297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731290278113.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": "181bf34123514c329e2cef72847607a4_0e4f705254b14ee5ba4336e70ee7277f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731290262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731290254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731290270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731290287568.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731290297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731290278113.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": "181bf34123514c329e2cef72847607a4_9a1f485bd7df47b685f5c854aba49d5f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731296662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731296654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731296670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731296687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731296697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731296678127.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 gray sedan to the front of the ego vehicle, a pedestrian wearing a black top to the front of the ego vehicle, and a white zebra crossing to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,874.2,482.5>, <c2,CAM_FRONT,305.0,598.3>, <c3,CAM_FRONT,1161.7,508.3>, and <c4,CAM_FRONT,986.1,641.3>."
            }
        ]
    },
    {
        "id": "181bf34123514c329e2cef72847607a4_9a1f485bd7df47b685f5c854aba49d5f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731296662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731296654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731296670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731296687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731296697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731296678127.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,305.0,598.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "181bf34123514c329e2cef72847607a4_9a1f485bd7df47b685f5c854aba49d5f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731296662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731296654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731296670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731296687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731296697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731296678127.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,874.2,482.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "181bf34123514c329e2cef72847607a4_9a1f485bd7df47b685f5c854aba49d5f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731296662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731296654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731296670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731296687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731296697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731296678127.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,874.2,482.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to slightly offset to the left in maneuvering. The reason is that there is no safety issue, and the probability is high."
            }
        ]
    },
    {
        "id": "181bf34123514c329e2cef72847607a4_9a1f485bd7df47b685f5c854aba49d5f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731296662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731296654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731296670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731296687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731296697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731296678127.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,874.2,482.5>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "181bf34123514c329e2cef72847607a4_9a1f485bd7df47b685f5c854aba49d5f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731296662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731296654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731296670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731296687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731296697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731296678127.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, slightly offset to the left, and slightly offset to the right."
            }
        ]
    },
    {
        "id": "181bf34123514c329e2cef72847607a4_9a1f485bd7df47b685f5c854aba49d5f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731296662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731296654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731296670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731296687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731296697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731296678127.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": "76b0df6376e246d284c9be42b1fc6be6_50f390baf8d34012bed60c4e0b529fd6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449219912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449219904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449219920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449219937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449219947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449219927893.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 right of the ego vehicle, a black short-sleeved man to the front of the ego vehicle, a white commercial vehicle to the back of the ego vehicle, a black SUV to the front of the ego vehicle, a woman in a gray shirt to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1201.2,450.6>, <c2,CAM_FRONT,1245.0,522.5>, <c3,CAM_BACK,797.5,627.5>, <c4,CAM_FRONT,1091.7,509.2>, <c5,CAM_FRONT,980.8,510.8>, and <c6,CAM_FRONT,900.2,294.8>."
            }
        ]
    },
    {
        "id": "76b0df6376e246d284c9be42b1fc6be6_50f390baf8d34012bed60c4e0b529fd6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449219912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449219904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449219920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449219937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449219947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449219927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1245.0,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "76b0df6376e246d284c9be42b1fc6be6_50f390baf8d34012bed60c4e0b529fd6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449219912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449219904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449219920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449219937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449219947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449219927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1201.2,450.6> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "76b0df6376e246d284c9be42b1fc6be6_50f390baf8d34012bed60c4e0b529fd6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449219912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449219904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449219920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449219937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449219947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449219927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1201.2,450.6>? 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 maintain a safe distance, which is high."
            }
        ]
    },
    {
        "id": "76b0df6376e246d284c9be42b1fc6be6_50f390baf8d34012bed60c4e0b529fd6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449219912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449219904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449219920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449219937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449219947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449219927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1201.2,450.6>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "76b0df6376e246d284c9be42b1fc6be6_50f390baf8d34012bed60c4e0b529fd6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449219912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449219904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449219920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449219937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449219947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449219927893.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."
            }
        ]
    },
    {
        "id": "76b0df6376e246d284c9be42b1fc6be6_50f390baf8d34012bed60c4e0b529fd6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449219912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449219904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449219920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449219937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449219947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449219927893.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": "97ba0e14805b42f292db7f06b6d1121b_553cf979a6784157ba38023c4cbec33d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287361412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287361404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287361420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287361437565.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287361447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287361428113.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 truck to the back of the ego vehicle, and a yellow sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,794.7,421.1>, <c2,CAM_BACK,661.7,476.9>, and <c3,CAM_FRONT_RIGHT,399.0,437.2>."
            }
        ]
    },
    {
        "id": "97ba0e14805b42f292db7f06b6d1121b_553cf979a6784157ba38023c4cbec33d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287361412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287361404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287361420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287361437565.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287361447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287361428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,794.7,421.1>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "97ba0e14805b42f292db7f06b6d1121b_553cf979a6784157ba38023c4cbec33d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287361412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287361404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287361420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287361437565.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287361447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287361428113.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 <c3,CAM_FRONT_RIGHT,399.0,437.2>. The object is a traffic sign, so the ego vehicle should slow down and proceed. Secondly, notice that <c1,CAM_FRONT,794.7,421.1>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,661.7,476.9>. The object is turning right, so the ego vehicle should also turn right."
            }
        ]
    },
    {
        "id": "97ba0e14805b42f292db7f06b6d1121b_553cf979a6784157ba38023c4cbec33d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287361412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287361404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287361420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287361437565.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287361447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287361428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,794.7,421.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "97ba0e14805b42f292db7f06b6d1121b_553cf979a6784157ba38023c4cbec33d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287361412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287361404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287361420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287361437565.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287361447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287361428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,794.7,421.1>? 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": "97ba0e14805b42f292db7f06b6d1121b_553cf979a6784157ba38023c4cbec33d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287361412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287361404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287361420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287361437565.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287361447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287361428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,794.7,421.1>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "97ba0e14805b42f292db7f06b6d1121b_553cf979a6784157ba38023c4cbec33d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287361412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287361404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287361420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287361437565.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287361447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287361428113.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "97ba0e14805b42f292db7f06b6d1121b_553cf979a6784157ba38023c4cbec33d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287361412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287361404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287361420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287361437565.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287361447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287361428113.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": "098c11f50ff2425a9ff994e004de1216_23f8fb41a9ce46e3b63e0e1bee71e61d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297688612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297688604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297688620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297688637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297688647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297688628113.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 white sedan to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a silver sedan to the back left of the ego vehicle, a white sedan to the back of the ego vehicle, and a person holding an umbrella to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,941.7,538.3>, <c2,CAM_FRONT,236.7,521.7>, <c3,CAM_BACK,1425.6,615.9>, <c4,CAM_BACK_LEFT,1170.7,688.4>, <c5,CAM_BACK,1031.7,671.7>, and <c6,CAM_FRONT,619.2,591.7>."
            }
        ]
    },
    {
        "id": "098c11f50ff2425a9ff994e004de1216_23f8fb41a9ce46e3b63e0e1bee71e61d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297688612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297688604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297688620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297688637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297688647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297688628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,941.7,538.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "098c11f50ff2425a9ff994e004de1216_23f8fb41a9ce46e3b63e0e1bee71e61d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297688612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297688604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297688620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297688637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297688647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297688628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,941.7,538.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "098c11f50ff2425a9ff994e004de1216_23f8fb41a9ce46e3b63e0e1bee71e61d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297688612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297688604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297688620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297688637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297688647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297688628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,941.7,538.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to brake gently to a stop. The reason is that there is no safety issue, and the probability is high."
            }
        ]
    },
    {
        "id": "098c11f50ff2425a9ff994e004de1216_23f8fb41a9ce46e3b63e0e1bee71e61d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297688612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297688604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297688620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297688637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297688647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297688628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,941.7,538.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "098c11f50ff2425a9ff994e004de1216_23f8fb41a9ce46e3b63e0e1bee71e61d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297688612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297688604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297688620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297688637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297688647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297688628113.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, slightly offset to the left, or slightly offset to the right."
            }
        ]
    },
    {
        "id": "098c11f50ff2425a9ff994e004de1216_23f8fb41a9ce46e3b63e0e1bee71e61d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297688612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297688604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297688620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297688637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297688647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297688628113.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": "70368a18644046f898ab836fc8a3c03f_825d52c255ca46fc9ae7a7fc43d44816_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.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 black sedan to the front right of the ego vehicle, and a or pedestrians on the road to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,315.0,621.7>, <c2,CAM_FRONT_RIGHT,229.2,569.2>, and <c3,CAM_FRONT,1040.0,544.2>."
            }
        ]
    },
    {
        "id": "70368a18644046f898ab836fc8a3c03f_825d52c255ca46fc9ae7a7fc43d44816_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,229.2,569.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "70368a18644046f898ab836fc8a3c03f_825d52c255ca46fc9ae7a7fc43d44816_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.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 <c1,CAM_FRONT,315.0,621.7>. It is stationary, so the ego vehicle should remain stationary. Secondly, notice <c3,CAM_FRONT,1040.0,544.2>. It is going ahead, so the ego vehicle should remain stationary. Thirdly, notice <c2,CAM_FRONT_RIGHT,229.2,569.2>. It is turning left, so the ego vehicle should remain stationary."
            }
        ]
    },
    {
        "id": "70368a18644046f898ab836fc8a3c03f_825d52c255ca46fc9ae7a7fc43d44816_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,315.0,621.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "70368a18644046f898ab836fc8a3c03f_825d52c255ca46fc9ae7a7fc43d44816_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,315.0,621.7>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "70368a18644046f898ab836fc8a3c03f_825d52c255ca46fc9ae7a7fc43d44816_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,315.0,621.7>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "70368a18644046f898ab836fc8a3c03f_825d52c255ca46fc9ae7a7fc43d44816_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.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; brake suddenly."
            }
        ]
    },
    {
        "id": "70368a18644046f898ab836fc8a3c03f_825d52c255ca46fc9ae7a7fc43d44816_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.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": "b09162caded44198b149b4bce3558056_5eda7aefbded40b9a1b1cfdfb1de2b06_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986260262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986260254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986260270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986260287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986260297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986260277893.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 in black shorts to the front of the ego vehicle, a black SUV to the front of the ego vehicle, an orange bus to the front of the ego vehicle, and a pedestrian wearing a black top to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,612.5,520.8>, <c2,CAM_FRONT,760.8,525.0>, <c3,CAM_FRONT,820.8,499.2>, and <c4,CAM_BACK,187.5,546.7>."
            }
        ]
    },
    {
        "id": "b09162caded44198b149b4bce3558056_5eda7aefbded40b9a1b1cfdfb1de2b06_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986260262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986260254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986260270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986260287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986260297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986260277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,612.5,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b09162caded44198b149b4bce3558056_5eda7aefbded40b9a1b1cfdfb1de2b06_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986260262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986260254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986260270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986260287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986260297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986260277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,612.5,520.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b09162caded44198b149b4bce3558056_5eda7aefbded40b9a1b1cfdfb1de2b06_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986260262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986260254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986260270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986260287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986260297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986260277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,612.5,520.8>? 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": "b09162caded44198b149b4bce3558056_5eda7aefbded40b9a1b1cfdfb1de2b06_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986260262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986260254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986260270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986260287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986260297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986260277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,612.5,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "b09162caded44198b149b4bce3558056_5eda7aefbded40b9a1b1cfdfb1de2b06_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986260262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986260254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986260270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986260287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986260297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986260277893.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."
            }
        ]
    },
    {
        "id": "b09162caded44198b149b4bce3558056_5eda7aefbded40b9a1b1cfdfb1de2b06_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986260262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986260254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986260270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986260287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986260297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986260277893.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": "b09162caded44198b149b4bce3558056_788e82e718d64e309dd19c9ff73a1285_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986263662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986263654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986263670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986263687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986263697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986263677893.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 with white short sleeves to the front of the ego vehicle, a black SUV to the front of the ego vehicle, and a bus to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,795.0,520.8>, <c2,CAM_FRONT,413.3,509.2>, and <c3,CAM_FRONT,565.0,472.5>."
            }
        ]
    },
    {
        "id": "b09162caded44198b149b4bce3558056_788e82e718d64e309dd19c9ff73a1285_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986263662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986263654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986263670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986263687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986263697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986263677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,795.0,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b09162caded44198b149b4bce3558056_788e82e718d64e309dd19c9ff73a1285_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986263662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986263654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986263670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986263687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986263697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986263677893.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 <c1,CAM_FRONT,795.0,520.8>. It is going ahead, so the ego vehicle should turn right. Secondly, notice <c3,CAM_FRONT,565.0,472.5>. It is stationary, so the ego vehicle should turn right. Thirdly, notice <c2,CAM_FRONT,413.3,509.2>. It is going ahead, so the ego vehicle should turn right."
            }
        ]
    },
    {
        "id": "b09162caded44198b149b4bce3558056_788e82e718d64e309dd19c9ff73a1285_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986263662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986263654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986263670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986263687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986263697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986263677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,795.0,520.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b09162caded44198b149b4bce3558056_788e82e718d64e309dd19c9ff73a1285_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986263662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986263654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986263670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986263687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986263697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986263677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,795.0,520.8>? 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": "b09162caded44198b149b4bce3558056_788e82e718d64e309dd19c9ff73a1285_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986263662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986263654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986263670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986263687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986263697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986263677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,795.0,520.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "b09162caded44198b149b4bce3558056_788e82e718d64e309dd19c9ff73a1285_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986263662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986263654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986263670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986263687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986263697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986263677893.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 right."
            }
        ]
    },
    {
        "id": "b09162caded44198b149b4bce3558056_788e82e718d64e309dd19c9ff73a1285_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986263662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986263654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986263670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986263687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986263697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986263677893.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": "078e6d7a3d4a429bba404bf12c7a98f2_7b4ac539f491478fba47e53ebaec3c0f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657473662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657473654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657473670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657473687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657473697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657473678113.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 black sedan to the front right of the ego vehicle, a black SUV to the back of the ego vehicle, a black SUV to the front of the ego vehicle, a white truck to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,791.2,537.2>, <c2,CAM_FRONT_RIGHT,1005.0,650.8>, <c3,CAM_BACK,375.8,560.8>, <c4,CAM_FRONT,715.0,498.3>, <c5,CAM_FRONT,440.8,468.1>, and <c6,CAM_FRONT,764.8,422.1>."
            }
        ]
    },
    {
        "id": "078e6d7a3d4a429bba404bf12c7a98f2_7b4ac539f491478fba47e53ebaec3c0f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657473662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657473654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657473670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657473687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657473697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657473678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,791.2,537.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "078e6d7a3d4a429bba404bf12c7a98f2_7b4ac539f491478fba47e53ebaec3c0f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657473662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657473654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657473670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657473687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657473697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657473678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,791.2,537.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "078e6d7a3d4a429bba404bf12c7a98f2_7b4ac539f491478fba47e53ebaec3c0f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657473662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657473654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657473670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657473687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657473697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657473678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,791.2,537.2>? 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 probability."
            }
        ]
    },
    {
        "id": "078e6d7a3d4a429bba404bf12c7a98f2_7b4ac539f491478fba47e53ebaec3c0f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657473662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657473654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657473670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657473687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657473697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657473678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,791.2,537.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "078e6d7a3d4a429bba404bf12c7a98f2_7b4ac539f491478fba47e53ebaec3c0f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657473662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657473654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657473670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657473687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657473697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657473678113.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, and change to the left lane."
            }
        ]
    },
    {
        "id": "078e6d7a3d4a429bba404bf12c7a98f2_7b4ac539f491478fba47e53ebaec3c0f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657473662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657473654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657473670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657473687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657473697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657473678113.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": "2fc3753772e241f2ab2cd16a784cc680_8c0372d87281421aba897bec0084d0da_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657109762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657109754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657109770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657109787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657109797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657109778113.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 bumper to the front right of the ego vehicle, a black sedan car to the back of the ego vehicle, and an orange construction vehicle to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,662.5,483.3>, <c2,CAM_FRONT_RIGHT,337.0,797.5>, <c3,CAM_BACK,786.7,546.7>, and <c4,CAM_FRONT_RIGHT,245.0,567.5>."
            }
        ]
    },
    {
        "id": "2fc3753772e241f2ab2cd16a784cc680_8c0372d87281421aba897bec0084d0da_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657109762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657109754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657109770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657109787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657109797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657109778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,662.5,483.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2fc3753772e241f2ab2cd16a784cc680_8c0372d87281421aba897bec0084d0da_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657109762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657109754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657109770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657109787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657109797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657109778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,662.5,483.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2fc3753772e241f2ab2cd16a784cc680_8c0372d87281421aba897bec0084d0da_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657109762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657109754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657109770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657109787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657109797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657109778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,662.5,483.3>? 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": "2fc3753772e241f2ab2cd16a784cc680_8c0372d87281421aba897bec0084d0da_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657109762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657109754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657109770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657109787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657109797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657109778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,662.5,483.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "2fc3753772e241f2ab2cd16a784cc680_8c0372d87281421aba897bec0084d0da_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657109762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657109754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657109770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657109787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657109797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657109778113.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 continue at the same speed."
            }
        ]
    },
    {
        "id": "2fc3753772e241f2ab2cd16a784cc680_8c0372d87281421aba897bec0084d0da_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657109762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657109754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657109770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657109787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657109797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657109778113.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": "2fc3753772e241f2ab2cd16a784cc680_00889f8a9549450aa2f32cf310a3e305_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657119612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657119604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657119620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657119637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657119647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657119628113.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 truck to the back left of the ego vehicle, a black sedan car to the front right of the ego vehicle, a black sedan car to the back of the ego vehicle, a black truck to the front of the ego vehicle, a red truck to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,616.4,441.1>, <c2,CAM_FRONT_RIGHT,191.7,474.2>, <c3,CAM_BACK,578.3,670.0>, <c4,CAM_FRONT,540.8,464.2>, <c5,CAM_FRONT,1077.5,475.8>, and <c6,CAM_FRONT,1069.5,296.3>."
            }
        ]
    },
    {
        "id": "2fc3753772e241f2ab2cd16a784cc680_00889f8a9549450aa2f32cf310a3e305_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657119612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657119604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657119620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657119637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657119647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657119628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_LEFT,616.4,441.1>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2fc3753772e241f2ab2cd16a784cc680_00889f8a9549450aa2f32cf310a3e305_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657119612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657119604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657119620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657119637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657119647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657119628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,616.4,441.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2fc3753772e241f2ab2cd16a784cc680_00889f8a9549450aa2f32cf310a3e305_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657119612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657119604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657119620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657119637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657119647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657119628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,616.4,441.1>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary, the reason is to follow the traffic rules, high."
            }
        ]
    },
    {
        "id": "2fc3753772e241f2ab2cd16a784cc680_00889f8a9549450aa2f32cf310a3e305_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657119612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657119604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657119620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657119637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657119647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657119628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,616.4,441.1>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "2fc3753772e241f2ab2cd16a784cc680_00889f8a9549450aa2f32cf310a3e305_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657119612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657119604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657119620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657119637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657119647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657119628113.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 right, brake gently to a stop."
            }
        ]
    },
    {
        "id": "2fc3753772e241f2ab2cd16a784cc680_00889f8a9549450aa2f32cf310a3e305_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657119612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657119604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657119620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657119637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657119647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657119628113.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": "cfeb880362694fa7a428aec2fd139daa_5bb5c7ccd5a44cab9c754a00822bf1f6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657286162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657286154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657286170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657286187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657286197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657286178113.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 bicycle to the front of the ego vehicle, a black car to the back of the ego vehicle, and a white traffic sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1000.8,511.7>, <c2,CAM_BACK,831.7,533.3>, and <c3,CAM_FRONT,1476.7,360.5>."
            }
        ]
    },
    {
        "id": "cfeb880362694fa7a428aec2fd139daa_5bb5c7ccd5a44cab9c754a00822bf1f6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657286162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657286154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657286170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657286187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657286197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657286178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1000.8,511.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cfeb880362694fa7a428aec2fd139daa_5bb5c7ccd5a44cab9c754a00822bf1f6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657286162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657286154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657286170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657286187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657286197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657286178113.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 <c3,CAM_FRONT,1476.7,360.5>. It is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_FRONT,1000.8,511.7>. It is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_BACK,831.7,533.3>. It is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "cfeb880362694fa7a428aec2fd139daa_5bb5c7ccd5a44cab9c754a00822bf1f6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657286162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657286154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657286170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657286187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657286197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657286178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1000.8,511.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cfeb880362694fa7a428aec2fd139daa_5bb5c7ccd5a44cab9c754a00822bf1f6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657286162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657286154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657286170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657286187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657286197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657286178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1000.8,511.7>? 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 probability."
            }
        ]
    },
    {
        "id": "cfeb880362694fa7a428aec2fd139daa_5bb5c7ccd5a44cab9c754a00822bf1f6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657286162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657286154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657286170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657286187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657286197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657286178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1000.8,511.7>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "cfeb880362694fa7a428aec2fd139daa_5bb5c7ccd5a44cab9c754a00822bf1f6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657286162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657286154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657286170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657286187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657286197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657286178113.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 proceed."
            }
        ]
    },
    {
        "id": "cfeb880362694fa7a428aec2fd139daa_5bb5c7ccd5a44cab9c754a00822bf1f6_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657286162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657286154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657286170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657286187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657286197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657286178113.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": "cfeb880362694fa7a428aec2fd139daa_58ad7ed7eba843dc8f80777e7ad98b38_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657281662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657281654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657281670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657281687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657281697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657281678113.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 bicycle to the front of the ego vehicle, a silver SUV to the back right of the ego vehicle, and a gray sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,970.8,505.8>, <c2,CAM_BACK_RIGHT,65.3,709.9>, and <c3,CAM_BACK,873.3,547.5>."
            }
        ]
    },
    {
        "id": "cfeb880362694fa7a428aec2fd139daa_58ad7ed7eba843dc8f80777e7ad98b38_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657281662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657281654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657281670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657281687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657281697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657281678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,970.8,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cfeb880362694fa7a428aec2fd139daa_58ad7ed7eba843dc8f80777e7ad98b38_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657281662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657281654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657281670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657281687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657281697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657281678113.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 <c1,CAM_FRONT,970.8,505.8>. It is going ahead, so the ego vehicle should continue at the same speed. Secondly, notice <c2,CAM_BACK_RIGHT,65.3,709.9>. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c3,CAM_BACK,873.3,547.5>. It is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "cfeb880362694fa7a428aec2fd139daa_58ad7ed7eba843dc8f80777e7ad98b38_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657281662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657281654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657281670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657281687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657281697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657281678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,970.8,505.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cfeb880362694fa7a428aec2fd139daa_58ad7ed7eba843dc8f80777e7ad98b38_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657281662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657281654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657281670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657281687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657281697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657281678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,970.8,505.8>? 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": "cfeb880362694fa7a428aec2fd139daa_58ad7ed7eba843dc8f80777e7ad98b38_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657281662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657281654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657281670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657281687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657281697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657281678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,970.8,505.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "cfeb880362694fa7a428aec2fd139daa_58ad7ed7eba843dc8f80777e7ad98b38_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657281662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657281654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657281670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657281687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657281697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657281678113.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."
            }
        ]
    },
    {
        "id": "cfeb880362694fa7a428aec2fd139daa_58ad7ed7eba843dc8f80777e7ad98b38_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657281662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657281654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657281670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657281687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657281697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657281678113.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": "c34206e65a1442828b950b0ca52098b7_1c0e3c1212a04598869a1258fa30e30d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033805912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033805904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033805920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033805937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033805947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033805927893.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 white sedan to the front right of the ego vehicle, a white passenger bus to the front of the ego vehicle, and a black car to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,560.0,675.0>, <c2,CAM_FRONT,964.2,482.5>, and <c3,CAM_BACK_LEFT,1418.4,555.1>."
            }
        ]
    },
    {
        "id": "c34206e65a1442828b950b0ca52098b7_1c0e3c1212a04598869a1258fa30e30d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033805912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033805904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033805920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033805937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033805947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033805927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,560.0,675.0>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "c34206e65a1442828b950b0ca52098b7_1c0e3c1212a04598869a1258fa30e30d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033805912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033805904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033805920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033805937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033805947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033805927893.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 <c1,CAM_FRONT_RIGHT,560.0,675.0>. The object is turning left, so the ego vehicle should slow down and proceed. Secondly notice that <c2,CAM_FRONT,964.2,482.5>. The object is stationary, so the ego vehicle should continue at the same speed. Thirdly notice that <c3,CAM_BACK_LEFT,1418.4,555.1>. The object is stationary, so the ego vehicle should continue at the same speed."
            }
        ]
    },
    {
        "id": "c34206e65a1442828b950b0ca52098b7_1c0e3c1212a04598869a1258fa30e30d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033805912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033805904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033805920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033805937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033805947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033805927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,560.0,675.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c34206e65a1442828b950b0ca52098b7_1c0e3c1212a04598869a1258fa30e30d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033805912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033805904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033805920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033805937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033805947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033805927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,560.0,675.0>? 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, which is high probability."
            }
        ]
    },
    {
        "id": "c34206e65a1442828b950b0ca52098b7_1c0e3c1212a04598869a1258fa30e30d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033805912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033805904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033805920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033805937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033805947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033805927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,560.0,675.0>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "c34206e65a1442828b950b0ca52098b7_1c0e3c1212a04598869a1258fa30e30d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033805912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033805904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033805920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033805937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033805947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033805927893.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": "c34206e65a1442828b950b0ca52098b7_1c0e3c1212a04598869a1258fa30e30d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033805912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033805904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033805920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033805937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033805947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033805927893.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": "ca6abd081eaf48689f06b5e8fcc9d369_11a409964a4e45a6ae900ffba6909953_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193083012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193083004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193083020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193083037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193083047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193083027893.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 right of the ego vehicle, a white sedan to the back of the ego vehicle, and a zebra crossing to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1477.5,593.3>, <c2,CAM_BACK,735.0,517.5>, and <c3,CAM_FRONT,890.8,635.8>."
            }
        ]
    },
    {
        "id": "ca6abd081eaf48689f06b5e8fcc9d369_11a409964a4e45a6ae900ffba6909953_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193083012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193083004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193083020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193083037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193083047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193083027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,735.0,517.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ca6abd081eaf48689f06b5e8fcc9d369_11a409964a4e45a6ae900ffba6909953_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193083012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193083004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193083020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193083037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193083047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193083027893.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 <c3,CAM_FRONT,890.8,635.8>. It is a traffic sign, so the ego vehicle should slow down and continue ahead. Secondly, notice <c1,CAM_FRONT_RIGHT,1477.5,593.3>. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_BACK,735.0,517.5>. It is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "ca6abd081eaf48689f06b5e8fcc9d369_11a409964a4e45a6ae900ffba6909953_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193083012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193083004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193083020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193083037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193083047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193083027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1477.5,593.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ca6abd081eaf48689f06b5e8fcc9d369_11a409964a4e45a6ae900ffba6909953_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193083012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193083004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193083020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193083037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193083047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193083027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1477.5,593.3>? 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": "ca6abd081eaf48689f06b5e8fcc9d369_11a409964a4e45a6ae900ffba6909953_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193083012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193083004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193083020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193083037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193083047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193083027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1477.5,593.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "ca6abd081eaf48689f06b5e8fcc9d369_11a409964a4e45a6ae900ffba6909953_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193083012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193083004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193083020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193083037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193083047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193083027893.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, slightly offset to the right."
            }
        ]
    },
    {
        "id": "ca6abd081eaf48689f06b5e8fcc9d369_11a409964a4e45a6ae900ffba6909953_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193083012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193083004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193083020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193083037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193083047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193083027893.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": "ca6abd081eaf48689f06b5e8fcc9d369_9e9f1dcc38d844d1897685ca6124ca27_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193085012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193085004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193085020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193085037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193085047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193085027893.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 back right of the ego vehicle, a man in a black coat to the back right of the ego vehicle, a white sedan to the back of the ego vehicle, a white arrow to the front of the ego vehicle, and a yellow and white zebra crossing to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,914.6,608.3>, <c2,CAM_BACK_RIGHT,998.3,634.2>, <c3,CAM_BACK,810.0,540.8>, <c4,CAM_FRONT,842.3,587.2>, and <c5,CAM_FRONT,1074.2,789.7>."
            }
        ]
    },
    {
        "id": "ca6abd081eaf48689f06b5e8fcc9d369_9e9f1dcc38d844d1897685ca6124ca27_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193085012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193085004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193085020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193085037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193085047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193085027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,810.0,540.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ca6abd081eaf48689f06b5e8fcc9d369_9e9f1dcc38d844d1897685ca6124ca27_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193085012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193085004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193085020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193085037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193085047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193085027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,914.6,608.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ca6abd081eaf48689f06b5e8fcc9d369_9e9f1dcc38d844d1897685ca6124ca27_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193085012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193085004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193085020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193085037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193085047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193085027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,914.6,608.3>? 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": "ca6abd081eaf48689f06b5e8fcc9d369_9e9f1dcc38d844d1897685ca6124ca27_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193085012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193085004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193085020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193085037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193085047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193085027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,914.6,608.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "ca6abd081eaf48689f06b5e8fcc9d369_9e9f1dcc38d844d1897685ca6124ca27_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193085012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193085004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193085020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193085037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193085047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193085027893.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": "ca6abd081eaf48689f06b5e8fcc9d369_9e9f1dcc38d844d1897685ca6124ca27_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193085012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193085004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193085020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193085037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193085047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193085027893.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": "08110c8640454affb5167801442a85fd_acdd91cec6124034a699c0877f305b49_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385033112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385033104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385033120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385033137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385033147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385033128113.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 gray sedan to the front left of the ego vehicle, and a white truck to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,238.3,541.7>, <c2,CAM_FRONT_LEFT,1088.3,558.3>, and <c3,CAM_BACK_RIGHT,192.5,477.5>."
            }
        ]
    },
    {
        "id": "08110c8640454affb5167801442a85fd_acdd91cec6124034a699c0877f305b49_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385033112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385033104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385033120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385033137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385033147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385033128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,1088.3,558.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "08110c8640454affb5167801442a85fd_acdd91cec6124034a699c0877f305b49_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385033112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385033104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385033120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385033137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385033147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385033128113.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 <c2,CAM_FRONT_LEFT,1088.3,558.3>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_BACK_RIGHT,192.5,477.5>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,238.3,541.7>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "08110c8640454affb5167801442a85fd_acdd91cec6124034a699c0877f305b49_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385033112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385033104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385033120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385033137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385033147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385033128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,238.3,541.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "08110c8640454affb5167801442a85fd_acdd91cec6124034a699c0877f305b49_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385033112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385033104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385033120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385033137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385033147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385033128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,238.3,541.7>? 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": "08110c8640454affb5167801442a85fd_acdd91cec6124034a699c0877f305b49_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385033112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385033104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385033120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385033137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385033147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385033128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,238.3,541.7>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "08110c8640454affb5167801442a85fd_acdd91cec6124034a699c0877f305b49_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385033112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385033104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385033120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385033137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385033147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385033128113.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 left."
            }
        ]
    },
    {
        "id": "08110c8640454affb5167801442a85fd_acdd91cec6124034a699c0877f305b49_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385033112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385033104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385033120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385033137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385033147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385033128113.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": "d3d94f2ce3dc4db4b3ba6f4aa81c3987_77f11851c9bb424598b0e5dba9d00ee8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574117262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574117254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574117270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574117287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574117297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574117278113.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 black sedan to the back of the ego vehicle, a obstacle to the front of the ego vehicle, and a white bus to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1104.5,389.2>, <c2,CAM_BACK,66.7,510.0>, <c3,CAM_FRONT,1071.7,452.5>, and <c4,CAM_FRONT,994.2,466.7>."
            }
        ]
    },
    {
        "id": "d3d94f2ce3dc4db4b3ba6f4aa81c3987_77f11851c9bb424598b0e5dba9d00ee8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574117262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574117254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574117270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574117287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574117297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574117278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1104.5,389.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d3d94f2ce3dc4db4b3ba6f4aa81c3987_77f11851c9bb424598b0e5dba9d00ee8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574117262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574117254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574117270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574117287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574117297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574117278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1104.5,389.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d3d94f2ce3dc4db4b3ba6f4aa81c3987_77f11851c9bb424598b0e5dba9d00ee8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574117262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574117254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574117270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574117287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574117297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574117278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1104.5,389.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to decelerate gradually without braking. The reason is to maintain a safe distance, which is high."
            }
        ]
    },
    {
        "id": "d3d94f2ce3dc4db4b3ba6f4aa81c3987_77f11851c9bb424598b0e5dba9d00ee8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574117262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574117254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574117270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574117287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574117297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574117278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1104.5,389.2>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "d3d94f2ce3dc4db4b3ba6f4aa81c3987_77f11851c9bb424598b0e5dba9d00ee8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574117262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574117254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574117270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574117287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574117297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574117278113.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": "d3d94f2ce3dc4db4b3ba6f4aa81c3987_77f11851c9bb424598b0e5dba9d00ee8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574117262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574117254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574117270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574117287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574117297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574117278113.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 fast."
            }
        ]
    },
    {
        "id": "bf753f22bc524274bc359467e0be149c_a9f2ac5c34274074bf37954bd51b4edd_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985838662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985838654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985838670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985838687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985838697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985838677893.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 green bus to the front right of the ego vehicle, a pedestrian wearing green clothes walking to the front of the ego vehicle, and a silver sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,841.7,464.2>, <c2,CAM_FRONT,893.2,509.2>, and <c3,CAM_BACK,695.0,588.3>."
            }
        ]
    },
    {
        "id": "bf753f22bc524274bc359467e0be149c_a9f2ac5c34274074bf37954bd51b4edd_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985838662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985838654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985838670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985838687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985838697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985838677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,841.7,464.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bf753f22bc524274bc359467e0be149c_a9f2ac5c34274074bf37954bd51b4edd_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985838662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985838654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985838670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985838687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985838697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985838677893.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 <c3,CAM_BACK,695.0,588.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_RIGHT,841.7,464.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT,893.2,509.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "bf753f22bc524274bc359467e0be149c_a9f2ac5c34274074bf37954bd51b4edd_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985838662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985838654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985838670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985838687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985838697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985838677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,841.7,464.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bf753f22bc524274bc359467e0be149c_a9f2ac5c34274074bf37954bd51b4edd_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985838662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985838654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985838670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985838687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985838697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985838677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,841.7,464.2>? 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": "bf753f22bc524274bc359467e0be149c_a9f2ac5c34274074bf37954bd51b4edd_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985838662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985838654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985838670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985838687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985838697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985838677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,841.7,464.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "bf753f22bc524274bc359467e0be149c_a9f2ac5c34274074bf37954bd51b4edd_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985838662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985838654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985838670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985838687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985838697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985838677893.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": "bf753f22bc524274bc359467e0be149c_a9f2ac5c34274074bf37954bd51b4edd_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985838662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985838654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985838670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985838687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985838697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985838677893.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": "446af4b1d7da4735a607bc3e45c2e0b3_e8aa04df14b64938965cc7a73393df31_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402588912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402588904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402588920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402588937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402588947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402588927893.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 bus to the front of the ego vehicle, a blue SUV to the back right of the ego vehicle, a blue sedan to the back right of the ego vehicle, and a brown sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1436.9,483.4>, <c2,CAM_BACK_RIGHT,1073.7,552.0>, <c3,CAM_BACK_RIGHT,1280.4,535.1>, and <c4,CAM_BACK_RIGHT,819.2,593.8>."
            }
        ]
    },
    {
        "id": "446af4b1d7da4735a607bc3e45c2e0b3_e8aa04df14b64938965cc7a73393df31_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402588912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402588904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402588920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402588937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402588947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402588927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1436.9,483.4>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "446af4b1d7da4735a607bc3e45c2e0b3_e8aa04df14b64938965cc7a73393df31_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402588912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402588904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402588920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402588937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402588947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402588927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1436.9,483.4> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "446af4b1d7da4735a607bc3e45c2e0b3_e8aa04df14b64938965cc7a73393df31_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402588912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402588904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402588920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402588937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402588947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402588927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1436.9,483.4>? 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 probability."
            }
        ]
    },
    {
        "id": "446af4b1d7da4735a607bc3e45c2e0b3_e8aa04df14b64938965cc7a73393df31_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402588912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402588904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402588920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402588937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402588947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402588927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1436.9,483.4>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "446af4b1d7da4735a607bc3e45c2e0b3_e8aa04df14b64938965cc7a73393df31_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402588912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402588904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402588920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402588937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402588947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402588927893.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": "446af4b1d7da4735a607bc3e45c2e0b3_e8aa04df14b64938965cc7a73393df31_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402588912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402588904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402588920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402588937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402588947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402588927893.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 very fast."
            }
        ]
    },
    {
        "id": "446af4b1d7da4735a607bc3e45c2e0b3_f2a379a8293749f29889ab1db71e62f4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402596162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402596154854.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402596170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402596187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402596197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402596177893.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 back right of the ego vehicle, a white bus to the back right of the ego vehicle, and a white arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,367.1,476.1>, <c2,CAM_BACK_RIGHT,740.7,528.7>, and <c3,CAM_FRONT,676.1,778.7>."
            }
        ]
    },
    {
        "id": "446af4b1d7da4735a607bc3e45c2e0b3_f2a379a8293749f29889ab1db71e62f4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402596162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402596154854.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402596170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402596187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402596197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402596177893.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 <c3,CAM_FRONT,676.1,778.7>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_BACK_RIGHT,367.1,476.1>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_BACK_RIGHT,740.7,528.7>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "446af4b1d7da4735a607bc3e45c2e0b3_f2a379a8293749f29889ab1db71e62f4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402596162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402596154854.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402596170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402596187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402596197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402596177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,367.1,476.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "446af4b1d7da4735a607bc3e45c2e0b3_f2a379a8293749f29889ab1db71e62f4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402596162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402596154854.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402596170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402596187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402596197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402596177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,367.1,476.1>? 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": "446af4b1d7da4735a607bc3e45c2e0b3_f2a379a8293749f29889ab1db71e62f4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402596162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402596154854.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402596170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402596187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402596197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402596177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,367.1,476.1>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "446af4b1d7da4735a607bc3e45c2e0b3_f2a379a8293749f29889ab1db71e62f4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402596162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402596154854.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402596170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402596187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402596197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402596177893.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": "446af4b1d7da4735a607bc3e45c2e0b3_f2a379a8293749f29889ab1db71e62f4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402596162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402596154854.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402596170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402596187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402596197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402596177893.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 very fast."
            }
        ]
    },
    {
        "id": "312102fd97de4bd4859374946e24ccdc_400159772a6e4a86900ac184bbae0ab3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202569162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202569154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202569170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202569187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202569197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202569177893.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 back of the ego vehicle, a person wearing white clothes to the front of the ego vehicle, and a no lane occupation to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,780.0,513.3>, <c2,CAM_FRONT,799.7,485.0>, and <c3,CAM_FRONT,870.1,743.1>."
            }
        ]
    },
    {
        "id": "312102fd97de4bd4859374946e24ccdc_400159772a6e4a86900ac184bbae0ab3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202569162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202569154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202569170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202569187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202569197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202569177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,780.0,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "312102fd97de4bd4859374946e24ccdc_400159772a6e4a86900ac184bbae0ab3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202569162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202569154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202569170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202569187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202569197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202569177893.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 <c3,CAM_FRONT,870.1,743.1>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_BACK,780.0,513.3>. It is moving ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_FRONT,799.7,485.0>. It is also moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "312102fd97de4bd4859374946e24ccdc_400159772a6e4a86900ac184bbae0ab3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202569162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202569154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202569170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202569187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202569197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202569177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,780.0,513.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "312102fd97de4bd4859374946e24ccdc_400159772a6e4a86900ac184bbae0ab3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202569162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202569154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202569170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202569187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202569197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202569177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,780.0,513.3>? 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, and the probability is high."
            }
        ]
    },
    {
        "id": "312102fd97de4bd4859374946e24ccdc_400159772a6e4a86900ac184bbae0ab3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202569162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202569154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202569170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202569187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202569197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202569177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,780.0,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "312102fd97de4bd4859374946e24ccdc_400159772a6e4a86900ac184bbae0ab3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202569162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202569154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202569170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202569187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202569197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202569177893.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": "312102fd97de4bd4859374946e24ccdc_400159772a6e4a86900ac184bbae0ab3_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202569162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202569154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202569170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202569187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202569197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202569177893.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": "a5887dd5d6d947e4af581b915716d51c_c163a407dbd848e68e685edee3c473c3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731120613118.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731120604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731120620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731120637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731120647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731120628113.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 right of the ego vehicle, a gray sedan to the front of the ego vehicle, a white SUV to the back of the ego vehicle, a white SUV to the front right of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1099.2,613.3>, <c2,CAM_FRONT,1220.8,519.2>, <c3,CAM_BACK,400.8,586.6>, <c4,CAM_FRONT_RIGHT,331.7,591.7>, and <c5,CAM_FRONT,868.2,335.2>."
            }
        ]
    },
    {
        "id": "a5887dd5d6d947e4af581b915716d51c_c163a407dbd848e68e685edee3c473c3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731120613118.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731120604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731120620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731120637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731120647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731120628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1099.2,613.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a5887dd5d6d947e4af581b915716d51c_c163a407dbd848e68e685edee3c473c3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731120613118.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731120604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731120620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731120637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731120647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731120628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1099.2,613.3>? 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": "a5887dd5d6d947e4af581b915716d51c_c163a407dbd848e68e685edee3c473c3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731120613118.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731120604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731120620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731120637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731120647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731120628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,1220.8,519.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "a5887dd5d6d947e4af581b915716d51c_c163a407dbd848e68e685edee3c473c3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731120613118.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731120604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731120620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731120637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731120647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731120628113.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": "a5887dd5d6d947e4af581b915716d51c_c163a407dbd848e68e685edee3c473c3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731120613118.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731120604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731120620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731120637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731120647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731120628113.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": "a5887dd5d6d947e4af581b915716d51c_c381f96a22bf49568408eb2401e4eaf1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731117162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731117154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731117170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731117187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731117197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731117178113.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 truck to the front left of the ego vehicle, a white sedan car to the front right of the ego vehicle, a white SUV to the back of the ego vehicle, a black pickup truck to the back right of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1373.3,420.0>, <c2,CAM_FRONT_RIGHT,37.5,580.0>, <c3,CAM_BACK,265.7,596.7>, <c4,CAM_BACK_RIGHT,792.6,590.0>, and <c5,CAM_FRONT,863.1,389.7>."
            }
        ]
    },
    {
        "id": "a5887dd5d6d947e4af581b915716d51c_c381f96a22bf49568408eb2401e4eaf1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731117162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731117154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731117170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731117187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731117197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731117178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1373.3,420.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "a5887dd5d6d947e4af581b915716d51c_c381f96a22bf49568408eb2401e4eaf1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731117162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731117154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731117170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731117187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731117197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731117178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1373.3,420.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a5887dd5d6d947e4af581b915716d51c_c381f96a22bf49568408eb2401e4eaf1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731117162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731117154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731117170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731117187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731117197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731117178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1373.3,420.0>? 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."
            }
        ]
    },
    {
        "id": "a5887dd5d6d947e4af581b915716d51c_c381f96a22bf49568408eb2401e4eaf1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731117162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731117154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731117170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731117187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731117197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731117178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1373.3,420.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "a5887dd5d6d947e4af581b915716d51c_c381f96a22bf49568408eb2401e4eaf1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731117162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731117154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731117170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731117187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731117197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731117178113.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": "a5887dd5d6d947e4af581b915716d51c_c381f96a22bf49568408eb2401e4eaf1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731117162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731117154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731117170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731117187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731117197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731117178113.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": "23663ff8f4614b8bb005d67e51a69283_081e261ad7ce4fd48022ada578f89b4c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297429412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297429404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297429420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297429437561.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297429447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297429428113.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 back of the ego vehicle, a white truck to the front left of the ego vehicle, a red and white truck to the back of the ego vehicle, a red light to the front of the ego vehicle, and a traffic sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,205.8,563.3>, <c2,CAM_FRONT_LEFT,674.2,463.5>, <c3,CAM_BACK,890.0,499.2>, <c4,CAM_FRONT,829.6,261.9>, and <c5,CAM_FRONT,1253.8,383.6>."
            }
        ]
    },
    {
        "id": "23663ff8f4614b8bb005d67e51a69283_081e261ad7ce4fd48022ada578f89b4c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297429412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297429404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297429420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297429437561.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297429447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297429428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,205.8,563.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "23663ff8f4614b8bb005d67e51a69283_081e261ad7ce4fd48022ada578f89b4c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297429412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297429404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297429420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297429437561.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297429447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297429428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,205.8,563.3>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "23663ff8f4614b8bb005d67e51a69283_081e261ad7ce4fd48022ada578f89b4c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297429412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297429404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297429420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297429437561.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297429447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297429428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,205.8,563.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "23663ff8f4614b8bb005d67e51a69283_081e261ad7ce4fd48022ada578f89b4c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297429412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297429404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297429420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297429437561.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297429447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297429428113.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 right, brake gently to stop."
            }
        ]
    },
    {
        "id": "23663ff8f4614b8bb005d67e51a69283_081e261ad7ce4fd48022ada578f89b4c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297429412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297429404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297429420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297429437561.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297429447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297429428113.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": "055a607b74e04001adef097225a8661a_d5cf3e5c8e54490a93c38e1965bc61e0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033909177893.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 sedan to the back of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1033.3,490.0>, <c2,CAM_BACK,816.7,505.0>, and <c3,CAM_FRONT,754.3,476.6>."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_d5cf3e5c8e54490a93c38e1965bc61e0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033909177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1033.3,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_d5cf3e5c8e54490a93c38e1965bc61e0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033909177893.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 <c1,CAM_FRONT,1033.3,490.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c3,CAM_FRONT,754.3,476.6>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c2,CAM_BACK,816.7,505.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_d5cf3e5c8e54490a93c38e1965bc61e0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033909177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1033.3,490.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_d5cf3e5c8e54490a93c38e1965bc61e0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033909177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1033.3,490.0>? 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": "055a607b74e04001adef097225a8661a_d5cf3e5c8e54490a93c38e1965bc61e0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033909177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1033.3,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_d5cf3e5c8e54490a93c38e1965bc61e0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033909177893.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, decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_d5cf3e5c8e54490a93c38e1965bc61e0_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033909162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033909154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033909170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033909187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033909197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033909177893.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": "055a607b74e04001adef097225a8661a_d2c0e649122d4efb9c4246202a98b2df_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033910162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033910154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033910170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033910187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033910197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033910177893.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 commercial van to the front of the ego vehicle, a white sedan to the back of the ego vehicle, and a yellow landmark to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1484.2,541.7>, <c2,CAM_FRONT,760.8,471.7>, <c3,CAM_BACK,815.0,515.0>, and <c4,CAM_FRONT,942.1,522.5>."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_d2c0e649122d4efb9c4246202a98b2df_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033910162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033910154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033910170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033910187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033910197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033910177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1484.2,541.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_d2c0e649122d4efb9c4246202a98b2df_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033910162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033910154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033910170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033910187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033910197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033910177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1484.2,541.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_d2c0e649122d4efb9c4246202a98b2df_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033910162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033910154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033910170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033910187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033910197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033910177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1484.2,541.7>? 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, high."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_d2c0e649122d4efb9c4246202a98b2df_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033910162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033910154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033910170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033910187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033910197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033910177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1484.2,541.7>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_d2c0e649122d4efb9c4246202a98b2df_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033910162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033910154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033910170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033910187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033910197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033910177893.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, keep going at the same speed."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_d2c0e649122d4efb9c4246202a98b2df_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033910162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033910154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033910170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033910187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033910197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033910177893.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": "055a607b74e04001adef097225a8661a_397b2b7dc65a4b2186b48f4dfa0a0ba2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033896262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033896254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033896270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033896287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033896297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033896277893.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 business car to the front of the ego vehicle, a white sedan to the back of the ego vehicle, and a slow down to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1370.8,630.8>, <c2,CAM_BACK,841.7,500.0>, and <c3,CAM_FRONT,1348.8,850.8>."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_397b2b7dc65a4b2186b48f4dfa0a0ba2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033896262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033896254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033896270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033896287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033896297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033896277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1370.8,630.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_397b2b7dc65a4b2186b48f4dfa0a0ba2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033896262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033896254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033896270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033896287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033896297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033896277893.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": "The ego vehicle should first notice <c3,CAM_FRONT,1348.8,850.8>, which is in the state of a traffic line marking, so the ego vehicle should take action to slow down. The ego vehicle should then notice <c1,CAM_FRONT,1370.8,630.8>, which is in the state of moving forward, so the ego vehicle should take action to slow down. Finally, the ego vehicle should notice <c2,CAM_BACK,841.7,500.0>, which is in the state of moving forward, so the ego vehicle should take action to maintain speed and continue forward."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_397b2b7dc65a4b2186b48f4dfa0a0ba2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033896262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033896254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033896270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033896287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033896297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033896277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1370.8,630.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_397b2b7dc65a4b2186b48f4dfa0a0ba2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033896262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033896254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033896270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033896287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033896297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033896277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1370.8,630.8>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_397b2b7dc65a4b2186b48f4dfa0a0ba2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033896262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033896254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033896270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033896287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033896297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033896277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1370.8,630.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "055a607b74e04001adef097225a8661a_397b2b7dc65a4b2186b48f4dfa0a0ba2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033896262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033896254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033896270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033896287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033896297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033896277893.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": "055a607b74e04001adef097225a8661a_397b2b7dc65a4b2186b48f4dfa0a0ba2_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033896262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033896254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033896270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033896287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033896297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033896277893.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 with normal speed."
            }
        ]
    },
    {
        "id": "16c90eedfc7943a5a4c64e84d18876a2_dc997a6f3d374e26b8a2421fcf25ca71_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799058162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799058154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799058170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799058187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799058197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799058177893.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 unable to determine to the back of the ego vehicle, a white sedan to the front of the ego vehicle, and a white SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,866.7,520.8>, <c2,CAM_FRONT,1047.5,542.5>, and <c3,CAM_FRONT,295.8,486.7>."
            }
        ]
    },
    {
        "id": "16c90eedfc7943a5a4c64e84d18876a2_dc997a6f3d374e26b8a2421fcf25ca71_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799058162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799058154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799058170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799058187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799058197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799058177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,866.7,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "16c90eedfc7943a5a4c64e84d18876a2_dc997a6f3d374e26b8a2421fcf25ca71_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799058162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799058154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799058170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799058187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799058197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799058177893.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 <c2,CAM_FRONT,1047.5,542.5>. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice <c3,CAM_FRONT,295.8,486.7>. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c1,CAM_BACK,866.7,520.8>. It is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "16c90eedfc7943a5a4c64e84d18876a2_dc997a6f3d374e26b8a2421fcf25ca71_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799058162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799058154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799058170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799058187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799058197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799058177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,866.7,520.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "16c90eedfc7943a5a4c64e84d18876a2_dc997a6f3d374e26b8a2421fcf25ca71_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799058162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799058154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799058170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799058187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799058197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799058177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,866.7,520.8>? 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": "16c90eedfc7943a5a4c64e84d18876a2_dc997a6f3d374e26b8a2421fcf25ca71_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799058162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799058154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799058170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799058187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799058197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799058177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,866.7,520.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "16c90eedfc7943a5a4c64e84d18876a2_dc997a6f3d374e26b8a2421fcf25ca71_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799058162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799058154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799058170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799058187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799058197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799058177893.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": "16c90eedfc7943a5a4c64e84d18876a2_dc997a6f3d374e26b8a2421fcf25ca71_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799058162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799058154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799058170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799058187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799058197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799058177893.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": "76c632788f8c4516bef1c4297f2002f6_30e9bf9ff66b41e08b1c59e345a1014f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845426262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845426254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845426270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845426287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845426297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845426277893.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 walking person to the front left of the ego vehicle, a white sedan to the front of the ego vehicle, a dark blue sedan to the back of the ego vehicle, and a no pedestrian crossing sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1298.3,528.3>, <c2,CAM_FRONT,872.5,527.5>, <c3,CAM_BACK,895.8,535.0>, and <c4,CAM_FRONT,410.8,494.2>."
            }
        ]
    },
    {
        "id": "76c632788f8c4516bef1c4297f2002f6_30e9bf9ff66b41e08b1c59e345a1014f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845426262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845426254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845426270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845426287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845426297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845426277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1298.3,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "76c632788f8c4516bef1c4297f2002f6_30e9bf9ff66b41e08b1c59e345a1014f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845426262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845426254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845426270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845426287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845426297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845426277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1298.3,528.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "76c632788f8c4516bef1c4297f2002f6_30e9bf9ff66b41e08b1c59e345a1014f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845426262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845426254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845426270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845426287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845426297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845426277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1298.3,528.3>? 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": "76c632788f8c4516bef1c4297f2002f6_30e9bf9ff66b41e08b1c59e345a1014f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845426262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845426254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845426270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845426287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845426297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845426277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1298.3,528.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "76c632788f8c4516bef1c4297f2002f6_30e9bf9ff66b41e08b1c59e345a1014f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845426262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845426254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845426270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845426287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845426297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845426277893.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": "76c632788f8c4516bef1c4297f2002f6_30e9bf9ff66b41e08b1c59e345a1014f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845426262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845426254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845426270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845426287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845426297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845426277893.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": "b886756c3fd641eeba9dda3932e196c0_b15005c22b7f44c39336edaf751ae5f0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663024412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663024404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663024420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663024437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663024447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663024427893.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 pedestrian with a backpack to the front right of the ego vehicle, and a pedestrian in a black jacket to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,521.9,675.1>, <c2,CAM_FRONT_RIGHT,173.3,750.8>, and <c3,CAM_FRONT_LEFT,995.8,640.0>."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_b15005c22b7f44c39336edaf751ae5f0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663024412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663024404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663024420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663024437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663024447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663024427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,173.3,750.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_b15005c22b7f44c39336edaf751ae5f0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663024412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663024404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663024420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663024437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663024447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663024427893.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 <c2,CAM_FRONT_RIGHT,173.3,750.8>. It is going ahead, so the ego vehicle should remain stationary. Secondly, notice <c3,CAM_FRONT_LEFT,995.8,640.0>. It is stationary, so the ego vehicle should remain stationary. Thirdly, notice <c1,CAM_BACK,521.9,675.1>. It is stationary, so the ego vehicle should remain stationary."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_b15005c22b7f44c39336edaf751ae5f0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663024412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663024404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663024420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663024437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663024447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663024427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,521.9,675.1> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_b15005c22b7f44c39336edaf751ae5f0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663024412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663024404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663024420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663024437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663024447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663024427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,521.9,675.1>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_b15005c22b7f44c39336edaf751ae5f0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663024412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663024404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663024420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663024437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663024447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663024427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,521.9,675.1>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_b15005c22b7f44c39336edaf751ae5f0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663024412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663024404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663024420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663024437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663024447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663024427893.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."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_b15005c22b7f44c39336edaf751ae5f0_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663024412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663024404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663024420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663024437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663024447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663024427893.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_d3f914f3a4a9477a9070d34db98440bc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.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 back of the ego vehicle, a man wearing white clothes to the back right of the ego vehicle, and a man wearing black clothes to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,522.1,605.0>, <c2,CAM_BACK_RIGHT,141.7,670.8>, and <c3,CAM_BACK_LEFT,1517.3,609.2>."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_d3f914f3a4a9477a9070d34db98440bc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,522.1,605.0>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_d3f914f3a4a9477a9070d34db98440bc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.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 <c3,CAM_BACK_LEFT,1517.3,609.2>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_BACK_RIGHT,141.7,670.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,522.1,605.0>. The object is turning right, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_d3f914f3a4a9477a9070d34db98440bc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,522.1,605.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_d3f914f3a4a9477a9070d34db98440bc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,522.1,605.0>? 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": "b886756c3fd641eeba9dda3932e196c0_d3f914f3a4a9477a9070d34db98440bc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,522.1,605.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_d3f914f3a4a9477a9070d34db98440bc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.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."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_d3f914f3a4a9477a9070d34db98440bc_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.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 slowly."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_164e524f52dd444d9ad0ac42d4d21025_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663011912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663011904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663011920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663011937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663011947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663011927893.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 right of the ego vehicle, a white SUV to the back of the ego vehicle, a white straight arrow to the front of the ego vehicle, and a no entry roadblock to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1022.5,575.0>, <c2,CAM_BACK,630.8,468.3>, <c3,CAM_FRONT,401.7,652.9>, and <c4,CAM_BACK_LEFT,1071.5,655.1>."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_164e524f52dd444d9ad0ac42d4d21025_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663011912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663011904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663011920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663011937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663011947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663011927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,1022.5,575.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_164e524f52dd444d9ad0ac42d4d21025_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663011912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663011904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663011920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663011937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663011947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663011927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1022.5,575.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_164e524f52dd444d9ad0ac42d4d21025_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663011912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663011904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663011920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663011937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663011947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663011927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1022.5,575.0>? 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 probability."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_164e524f52dd444d9ad0ac42d4d21025_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663011912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663011904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663011920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663011937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663011947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663011927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,1022.5,575.0>?"
            },
            {
                "from": "gpt",
                "value": "None."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_164e524f52dd444d9ad0ac42d4d21025_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663011912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663011904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663011920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663011937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663011947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663011927893.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 turn right."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_164e524f52dd444d9ad0ac42d4d21025_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663011912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663011904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663011920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663011937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663011947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663011927893.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": "b886756c3fd641eeba9dda3932e196c0_5644b9665ccd4090a7b786f7b7174f36_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663017412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663017404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663017420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663017437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663017447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663017427901.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 right of the ego vehicle, a white sedan to the back right of the ego vehicle, and a person on the roadside to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,567.5,450.8>, <c2,CAM_BACK_RIGHT,590.8,605.0>, and <c3,CAM_FRONT,336.7,633.3>."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_5644b9665ccd4090a7b786f7b7174f36_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663017412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663017404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663017420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663017437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663017447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663017427901.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,567.5,450.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_5644b9665ccd4090a7b786f7b7174f36_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663017412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663017404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663017420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663017437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663017447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663017427901.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 <c3,CAM_FRONT,336.7,633.3>. The object is going ahead, so the ego vehicle should decelerate gradually until it comes to a stop. Secondly notice that <c1,CAM_FRONT_RIGHT,567.5,450.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK_RIGHT,590.8,605.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_5644b9665ccd4090a7b786f7b7174f36_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663017412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663017404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663017420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663017437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663017447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663017427901.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,567.5,450.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_5644b9665ccd4090a7b786f7b7174f36_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663017412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663017404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663017420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663017437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663017447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663017427901.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,567.5,450.8>? 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": "b886756c3fd641eeba9dda3932e196c0_5644b9665ccd4090a7b786f7b7174f36_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663017412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663017404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663017420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663017437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663017447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663017427901.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,567.5,450.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "b886756c3fd641eeba9dda3932e196c0_5644b9665ccd4090a7b786f7b7174f36_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663017412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663017404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663017420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663017437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663017447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663017427901.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": "b886756c3fd641eeba9dda3932e196c0_5644b9665ccd4090a7b786f7b7174f36_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663017412477.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663017404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663017420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663017437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663017447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663017427901.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": "1319a9c0288f4ff9ae32d3f33b3bae17_3765b3cc89aa4e7a8a4ce508dedb3c9d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845298262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845298254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845298270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845298287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845298297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845298277893.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 black car to the back of the ego vehicle, a silver car to the back of the ego vehicle, a white sedan car to the back left of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,907.5,540.0>, <c2,CAM_BACK,775.0,587.8>, <c3,CAM_BACK,1165.4,567.8>, <c4,CAM_BACK_LEFT,811.3,630.8>, and <c5,CAM_FRONT,881.5,328.1>."
            }
        ]
    },
    {
        "id": "1319a9c0288f4ff9ae32d3f33b3bae17_3765b3cc89aa4e7a8a4ce508dedb3c9d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845298262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845298254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845298270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845298287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845298297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845298277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,907.5,540.0>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "1319a9c0288f4ff9ae32d3f33b3bae17_3765b3cc89aa4e7a8a4ce508dedb3c9d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845298262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845298254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845298270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845298287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845298297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845298277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,907.5,540.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1319a9c0288f4ff9ae32d3f33b3bae17_3765b3cc89aa4e7a8a4ce508dedb3c9d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845298262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845298254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845298270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845298287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845298297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845298277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,907.5,540.0>? 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": "1319a9c0288f4ff9ae32d3f33b3bae17_3765b3cc89aa4e7a8a4ce508dedb3c9d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845298262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845298254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845298270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845298287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845298297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845298277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,907.5,540.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "1319a9c0288f4ff9ae32d3f33b3bae17_3765b3cc89aa4e7a8a4ce508dedb3c9d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845298262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845298254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845298270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845298287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845298297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845298277893.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."
            }
        ]
    },
    {
        "id": "1319a9c0288f4ff9ae32d3f33b3bae17_3765b3cc89aa4e7a8a4ce508dedb3c9d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845298262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845298254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845298270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845298287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845298297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845298277893.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": "1319a9c0288f4ff9ae32d3f33b3bae17_8cc4c06b11f649ad916ddf153eb206c5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845286262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845286254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845286270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845286287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845286297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845286277893.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 brown sedan to the back of the ego vehicle, a silver sedan to the back of the ego vehicle, a stationary pedestrian to the front of the ego vehicle, a white sedan to the back left of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,759.2,602.5>, <c2,CAM_BACK,1184.2,585.8>, <c3,CAM_FRONT,372.5,522.5>, <c4,CAM_BACK_LEFT,870.0,630.0>, and <c5,CAM_FRONT,906.8,320.1>."
            }
        ]
    },
    {
        "id": "1319a9c0288f4ff9ae32d3f33b3bae17_8cc4c06b11f649ad916ddf153eb206c5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845286262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845286254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845286270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845286287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845286297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845286277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,759.2,602.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1319a9c0288f4ff9ae32d3f33b3bae17_8cc4c06b11f649ad916ddf153eb206c5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845286262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845286254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845286270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845286287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845286297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845286277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,759.2,602.5>? 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": "1319a9c0288f4ff9ae32d3f33b3bae17_8cc4c06b11f649ad916ddf153eb206c5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845286262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845286254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845286270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845286287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845286297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845286277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,759.2,602.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "1319a9c0288f4ff9ae32d3f33b3bae17_8cc4c06b11f649ad916ddf153eb206c5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845286262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845286254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845286270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845286287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845286297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845286277893.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": "1319a9c0288f4ff9ae32d3f33b3bae17_8cc4c06b11f649ad916ddf153eb206c5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845286262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845286254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845286270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845286287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845286297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845286277893.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": "bed8426a524d45afab05b19cf02386b2_5d67a90f5ac64030ae54ccc48fcc4545_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112721662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112721654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112721670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112721687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112721697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112721677893.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 of the ego vehicle, a worker wearing yellow clothes to the front of the ego vehicle, a person wearing blue pants to the front of the ego vehicle, a person wearing blue pants to the front of the ego vehicle, a blue truck to the front of the ego vehicle, and a blue truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1017.5,460.8>, <c2,CAM_FRONT,550.0,484.2>, <c3,CAM_FRONT,355.8,515.0>, <c4,CAM_FRONT,280.8,525.0>, <c5,CAM_FRONT,770.2,457.7>, and <c6,CAM_FRONT,879.4,450.3>."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_5d67a90f5ac64030ae54ccc48fcc4545_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112721662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112721654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112721670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112721687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112721697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112721677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,355.8,515.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_5d67a90f5ac64030ae54ccc48fcc4545_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112721662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112721654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112721670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112721687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112721697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112721677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1017.5,460.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_5d67a90f5ac64030ae54ccc48fcc4545_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112721662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112721654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112721670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112721687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112721697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112721677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1017.5,460.8>? 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": "bed8426a524d45afab05b19cf02386b2_5d67a90f5ac64030ae54ccc48fcc4545_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112721662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112721654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112721670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112721687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112721697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112721677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1017.5,460.8>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane can lead to a collision with <c1,CAM_FRONT,1017.5,460.8>."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_5d67a90f5ac64030ae54ccc48fcc4545_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112721662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112721654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112721670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112721687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112721697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112721677893.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, slightly offset to the right, or slightly offset to the left."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_5d67a90f5ac64030ae54ccc48fcc4545_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112721662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112721654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112721670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112721687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112721697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112721677893.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": "bed8426a524d45afab05b19cf02386b2_624be8090dc24d299267714b564fd578_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112729112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112729104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112729120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112729137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112729147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112729127893.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 blue bus to the front of the ego vehicle, a person wearing a blue shirt and black pants to the front of the ego vehicle, a person wearing a purple top and gray pants to the front right of the ego vehicle, and a blue coach to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,627.5,510.0>, <c2,CAM_FRONT,697.5,448.3>, <c3,CAM_FRONT,1319.2,480.8>, <c4,CAM_FRONT_RIGHT,478.3,505.8>, and <c5,CAM_FRONT,1099.2,440.0>."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_624be8090dc24d299267714b564fd578_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112729112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112729104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112729120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112729137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112729147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112729127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,1319.2,480.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_624be8090dc24d299267714b564fd578_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112729112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112729104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112729120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112729137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112729147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112729127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,627.5,510.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_624be8090dc24d299267714b564fd578_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112729112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112729104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112729120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112729137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112729147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112729127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,627.5,510.0>? 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": "bed8426a524d45afab05b19cf02386b2_624be8090dc24d299267714b564fd578_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112729112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112729104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112729120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112729137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112729147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112729127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,627.5,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_624be8090dc24d299267714b564fd578_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112729112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112729104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112729120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112729137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112729147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112729127893.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 suddenly."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_624be8090dc24d299267714b564fd578_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112729112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112729104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112729120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112729137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112729147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112729127893.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": "bed8426a524d45afab05b19cf02386b2_bb027e30447f445cb16cd3c6ae1708a4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112724162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112724154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112724170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112724187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112724197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112724177893.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 of the ego vehicle, a worker to the front left of the ego vehicle, a blue tricycle to the front of the ego vehicle, a pedestrian by the roadside to the front of the ego vehicle, a blue bus to the front of the ego vehicle, and pedestrians on the roadside to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,671.7,500.8>, <c2,CAM_FRONT_LEFT,1216.7,635.8>, <c3,CAM_FRONT,766.7,475.8>, <c4,CAM_FRONT,385.0,531.7>, <c5,CAM_FRONT,918.9,465.0>, and <c6,CAM_FRONT,1167.5,494.2>."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_bb027e30447f445cb16cd3c6ae1708a4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112724162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112724154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112724170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112724187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112724197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112724177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c5,CAM_FRONT,918.9,465.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_bb027e30447f445cb16cd3c6ae1708a4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112724162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112724154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112724170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112724187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112724197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112724177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,671.7,500.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_bb027e30447f445cb16cd3c6ae1708a4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112724162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112724154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112724170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112724187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112724197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112724177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,671.7,500.8>? 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 for taking this action is that there is no safety issue, and the probability is high."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_bb027e30447f445cb16cd3c6ae1708a4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112724162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112724154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112724170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112724187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112724197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112724177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,671.7,500.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_bb027e30447f445cb16cd3c6ae1708a4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112724162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112724154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112724170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112724187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112724197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112724177893.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, and slightly offset to the right."
            }
        ]
    },
    {
        "id": "bed8426a524d45afab05b19cf02386b2_bb027e30447f445cb16cd3c6ae1708a4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112724162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112724154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112724170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112724187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112724197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112724177893.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": "7b4a37ecca84421fbc22ad15e8b00ed8_05835231f62345c4a6117be397979b27_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659233412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659233404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659233420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659233437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659233447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659233428113.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 cone bucket to the front of the ego vehicle, and a traffic sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,917.5,511.7>, <c2,CAM_FRONT,902.1,514.3>, and <c3,CAM_FRONT,513.8,406.0>."
            }
        ]
    },
    {
        "id": "7b4a37ecca84421fbc22ad15e8b00ed8_05835231f62345c4a6117be397979b27_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659233412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659233404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659233420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659233437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659233447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659233428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,917.5,511.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7b4a37ecca84421fbc22ad15e8b00ed8_05835231f62345c4a6117be397979b27_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659233412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659233404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659233420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659233437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659233447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659233428113.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 <c2,CAM_FRONT,902.1,514.3>. The object is a traffic sign, so the ego vehicle should change to the left lane. Secondly, notice <c3,CAM_FRONT,513.8,406.0>. The object is also a traffic sign, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c1,CAM_BACK,917.5,511.7>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "7b4a37ecca84421fbc22ad15e8b00ed8_05835231f62345c4a6117be397979b27_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659233412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659233404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659233420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659233437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659233447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659233428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,917.5,511.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7b4a37ecca84421fbc22ad15e8b00ed8_05835231f62345c4a6117be397979b27_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659233412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659233404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659233420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659233437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659233447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659233428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,917.5,511.7>? 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": "7b4a37ecca84421fbc22ad15e8b00ed8_05835231f62345c4a6117be397979b27_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659233412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659233404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659233420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659233437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659233447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659233428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,917.5,511.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "7b4a37ecca84421fbc22ad15e8b00ed8_05835231f62345c4a6117be397979b27_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659233412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659233404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659233420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659233437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659233447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659233428113.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": "Change to the left lane and decelerate gradually without braking are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "7b4a37ecca84421fbc22ad15e8b00ed8_05835231f62345c4a6117be397979b27_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659233412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659233404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659233420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659233437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659233447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659233428113.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": "65cfdc10a42e499ea704c617e077afe0_aaec4d41364f4c29a2db7bb6e36dbe10_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297630012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297630004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297630020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297630037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297630047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297630028113.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 crossing the road to the front of the ego vehicle, a red car to the front of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1058.3,575.0>, <c2,CAM_FRONT,667.5,587.5>, and <c3,CAM_FRONT,294.2,525.8>."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_aaec4d41364f4c29a2db7bb6e36dbe10_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297630012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297630004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297630020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297630037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297630047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297630028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1058.3,575.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_aaec4d41364f4c29a2db7bb6e36dbe10_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297630012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297630004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297630020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297630037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297630047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297630028113.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 <c1,CAM_FRONT,1058.3,575.0>. It is going ahead, so the ego vehicle should turn left. Secondly, notice <c2,CAM_FRONT,667.5,587.5>. It is stationary, so the ego vehicle should turn left. Thirdly, notice <c3,CAM_FRONT,294.2,525.8>. It is going ahead, so the ego vehicle should turn left."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_aaec4d41364f4c29a2db7bb6e36dbe10_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297630012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297630004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297630020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297630037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297630047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297630028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1058.3,575.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_aaec4d41364f4c29a2db7bb6e36dbe10_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297630012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297630004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297630020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297630037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297630047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297630028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1058.3,575.0>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn left. The reason is to avoid a collision, which is high probability."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_aaec4d41364f4c29a2db7bb6e36dbe10_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297630012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297630004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297630020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297630037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297630047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297630028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1058.3,575.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_aaec4d41364f4c29a2db7bb6e36dbe10_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297630012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297630004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297630020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297630037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297630047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297630028113.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_aaec4d41364f4c29a2db7bb6e36dbe10_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297630012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297630004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297630020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297630037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297630047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297630028113.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": "65cfdc10a42e499ea704c617e077afe0_d5b3d5e487394761af1d9bd5cd3bdec6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297627512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297627504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297627520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297627537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297627547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297627528113.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 gray sedan to the front of the ego vehicle, a pedestrian holding an umbrella to the front of the ego vehicle, and a silver SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1420.0,515.8>, <c2,CAM_FRONT,550.0,530.0>, and <c3,CAM_FRONT_RIGHT,910.0,532.5>."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_d5b3d5e487394761af1d9bd5cd3bdec6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297627512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297627504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297627520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297627537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297627547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297627528113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,550.0,530.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_d5b3d5e487394761af1d9bd5cd3bdec6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297627512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297627504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297627520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297627537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297627547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297627528113.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 <c1,CAM_FRONT,1420.0,515.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,550.0,530.0>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT_RIGHT,910.0,532.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_d5b3d5e487394761af1d9bd5cd3bdec6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297627512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297627504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297627520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297627537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297627547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297627528113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1420.0,515.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_d5b3d5e487394761af1d9bd5cd3bdec6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297627512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297627504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297627520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297627537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297627547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297627528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1420.0,515.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn left. The reason is to avoid a collision, which is high probability."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_d5b3d5e487394761af1d9bd5cd3bdec6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297627512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297627504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297627520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297627537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297627547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297627528113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1420.0,515.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_d5b3d5e487394761af1d9bd5cd3bdec6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297627512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297627504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297627520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297627537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297627547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297627528113.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 and decelerate gradually without braking are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "65cfdc10a42e499ea704c617e077afe0_d5b3d5e487394761af1d9bd5cd3bdec6_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297627512404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297627504799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297627520482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297627537558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297627547405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297627528113.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": "6308d6d934074a028fc3145eedf3e65f_3fd5fe02b85d4286b1c041d52ec9145b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729153012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729153004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729153020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729153037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729153047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729153028113.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 black car to the back of the ego vehicle, a white sedan to the back of the ego vehicle, a black pickup truck to the back left of the ego vehicle, a black car to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,830.0,459.2>, <c2,CAM_BACK,866.7,516.7>, <c3,CAM_BACK,1362.1,642.3>, <c4,CAM_BACK_LEFT,1149.2,689.2>, <c5,CAM_FRONT,186.7,547.5>, and <c6,CAM_FRONT,476.2,339.9>."
            }
        ]
    },
    {
        "id": "6308d6d934074a028fc3145eedf3e65f_3fd5fe02b85d4286b1c041d52ec9145b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729153012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729153004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729153020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729153037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729153047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729153028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,830.0,459.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6308d6d934074a028fc3145eedf3e65f_3fd5fe02b85d4286b1c041d52ec9145b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729153012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729153004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729153020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729153037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729153047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729153028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,830.0,459.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6308d6d934074a028fc3145eedf3e65f_3fd5fe02b85d4286b1c041d52ec9145b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729153012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729153004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729153020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729153037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729153047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729153028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,830.0,459.2>? 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 of this action is low."
            }
        ]
    },
    {
        "id": "6308d6d934074a028fc3145eedf3e65f_3fd5fe02b85d4286b1c041d52ec9145b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729153012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729153004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729153020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729153037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729153047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729153028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,830.0,459.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "6308d6d934074a028fc3145eedf3e65f_3fd5fe02b85d4286b1c041d52ec9145b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729153012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729153004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729153020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729153037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729153047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729153028113.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": "Accelerate and go ahead, keep going at the same speed, slightly offset to the left."
            }
        ]
    },
    {
        "id": "6308d6d934074a028fc3145eedf3e65f_3fd5fe02b85d4286b1c041d52ec9145b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729153012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729153004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729153020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729153037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729153047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729153028113.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": "6308d6d934074a028fc3145eedf3e65f_161c7518767e43aba2c37fa76ff99d44_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729148012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729148004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729148020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729148037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729148047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729148028113.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 back right of the ego vehicle, a white car to the front of the ego vehicle, a black truck to the back of the ego vehicle, a black car to the back of the ego vehicle, a white car to the front of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1136.0,419.4>, <c2,CAM_FRONT,823.3,453.3>, <c3,CAM_BACK,662.5,486.7>, <c4,CAM_BACK,796.7,531.7>, <c5,CAM_FRONT,740.0,467.5>, and <c6,CAM_FRONT,366.7,512.5>."
            }
        ]
    },
    {
        "id": "6308d6d934074a028fc3145eedf3e65f_161c7518767e43aba2c37fa76ff99d44_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729148012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729148004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729148020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729148037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729148047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729148028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,823.3,453.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6308d6d934074a028fc3145eedf3e65f_161c7518767e43aba2c37fa76ff99d44_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729148012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729148004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729148020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729148037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729148047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729148028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1136.0,419.4> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6308d6d934074a028fc3145eedf3e65f_161c7518767e43aba2c37fa76ff99d44_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729148012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729148004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729148020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729148037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729148047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729148028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1136.0,419.4>? 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": "6308d6d934074a028fc3145eedf3e65f_161c7518767e43aba2c37fa76ff99d44_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729148012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729148004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729148020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729148037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729148047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729148028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,1136.0,419.4>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "6308d6d934074a028fc3145eedf3e65f_161c7518767e43aba2c37fa76ff99d44_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729148012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729148004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729148020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729148037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729148047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729148028113.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "6308d6d934074a028fc3145eedf3e65f_161c7518767e43aba2c37fa76ff99d44_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729148012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729148004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729148020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729148037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729148047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729148028113.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": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_e75d2f9b967649cdb6191ceb6469d1da_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985228162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985228154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985228170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985228187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985228197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985228177893.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 white shirt to the front of the ego vehicle, a pedestrian wearing a white shirt to the back of the ego vehicle, a pedestrian with a backpack to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1499.2,534.2>, <c2,CAM_BACK,1053.3,533.3>, <c3,CAM_FRONT,650.0,517.5>, and <c4,CAM_FRONT,1117.5,539.2>."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_e75d2f9b967649cdb6191ceb6469d1da_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985228162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985228154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985228170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985228187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985228197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985228177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1499.2,534.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_e75d2f9b967649cdb6191ceb6469d1da_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985228162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985228154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985228170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985228187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985228197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985228177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1499.2,534.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_e75d2f9b967649cdb6191ceb6469d1da_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985228162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985228154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985228170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985228187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985228197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985228177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1499.2,534.2>? 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": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_e75d2f9b967649cdb6191ceb6469d1da_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985228162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985228154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985228170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985228187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985228197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985228177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,1053.3,533.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_e75d2f9b967649cdb6191ceb6469d1da_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985228162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985228154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985228170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985228187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985228197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985228177893.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 ahead."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_e75d2f9b967649cdb6191ceb6469d1da_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985228162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985228154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985228170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985228187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985228197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985228177893.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": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_284d4a991460448680007c41cf1a22d8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985225662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985225654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985225670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985225687533.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985225697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985225677893.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 to the front of the ego vehicle, a man wearing a white shirt to the front left of the ego vehicle, a white sedan to the back of the ego vehicle, a man wearing black pants to the front of the ego vehicle, a woman wearing a black shirt 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 <c1,CAM_FRONT,1119.2,515.8>, <c2,CAM_FRONT_LEFT,813.3,666.7>, <c3,CAM_BACK,313.3,666.7>, <c4,CAM_FRONT,783.3,514.2>, <c5,CAM_FRONT_RIGHT,1207.5,571.7>, and <c6,CAM_FRONT,1043.8,520.8>."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_284d4a991460448680007c41cf1a22d8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985225662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985225654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985225670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985225687533.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985225697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985225677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1119.2,515.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_284d4a991460448680007c41cf1a22d8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985225662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985225654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985225670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985225687533.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985225697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985225677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1119.2,515.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_284d4a991460448680007c41cf1a22d8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985225662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985225654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985225670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985225687533.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985225697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985225677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1119.2,515.8>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_284d4a991460448680007c41cf1a22d8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985225662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985225654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985225670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985225687533.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985225697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985225677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1119.2,515.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_284d4a991460448680007c41cf1a22d8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985225662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985225654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985225670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985225687533.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985225697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985225677893.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 ahead."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_284d4a991460448680007c41cf1a22d8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985225662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985225654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985225670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985225687533.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985225697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985225677893.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": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_c9d5e6dd03774fd19d45ad91c107b5d3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985218162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985218154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985218170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985218187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985218197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985218177893.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 woman in a white blouse to the front left of the ego vehicle, a white top woman to the back right of the ego vehicle, a red car to the front of the ego vehicle, a black top, backpack, female, let to the back of the ego vehicle, a green bus to the back of the ego vehicle, and a black sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,690.0,513.3>, <c2,CAM_BACK_RIGHT,1352.5,577.5>, <c3,CAM_FRONT,630.0,504.2>, <c4,CAM_BACK,415.0,572.5>, <c5,CAM_BACK,1158.2,479.2>, and <c6,CAM_FRONT_LEFT,853.4,488.9>."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_c9d5e6dd03774fd19d45ad91c107b5d3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985218162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985218154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985218170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985218187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985218197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985218177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,690.0,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_c9d5e6dd03774fd19d45ad91c107b5d3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985218162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985218154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985218170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985218187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985218197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985218177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,690.0,513.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_c9d5e6dd03774fd19d45ad91c107b5d3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985218162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985218154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985218170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985218187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985218197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985218177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,690.0,513.3>? 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, and the probability is high."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_c9d5e6dd03774fd19d45ad91c107b5d3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985218162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985218154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985218170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985218187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985218197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985218177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,690.0,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_c9d5e6dd03774fd19d45ad91c107b5d3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985218162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985218154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985218170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985218187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985218197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985218177893.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, maintain the same speed, turn left, slightly offset to the left."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_c9d5e6dd03774fd19d45ad91c107b5d3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985218162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985218154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985218170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985218187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985218197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985218177893.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": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_911ef21347b2423da972d71284372bc3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.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 blue pants pedestrian to the front right of the ego vehicle, a black sedan to the front right of the ego vehicle, a white shirt pedestrian to the back right of the ego vehicle, an orange car to the front of the ego vehicle, and a pedestrian wearing a black top to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1055.0,510.0>, <c2,CAM_FRONT_RIGHT,918.3,576.7>, <c3,CAM_FRONT_RIGHT,878.3,537.5>, <c4,CAM_BACK_RIGHT,755.8,563.3>, <c5,CAM_FRONT,516.6,457.4>, and <c6,CAM_BACK_RIGHT,1401.7,630.8>."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_911ef21347b2423da972d71284372bc3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1055.0,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_911ef21347b2423da972d71284372bc3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1055.0,510.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_911ef21347b2423da972d71284372bc3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1055.0,510.0>? 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": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_911ef21347b2423da972d71284372bc3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1055.0,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_911ef21347b2423da972d71284372bc3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.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": "47cfdbcf14fe47d2a3b9e7e5b46d8a36_911ef21347b2423da972d71284372bc3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.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": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_7b9d2655d07f41a081fb2d133d93d625_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.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 right of the ego vehicle, a white sedan to the front right of the ego vehicle, a black sedan to the front left of the ego vehicle, a black sedan to the back of the ego vehicle, a white and yellow commercial vehicle to the front right of the ego vehicle, and a white sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,605.0,691.7>, <c2,CAM_FRONT_RIGHT,357.5,647.5>, <c3,CAM_FRONT_LEFT,1323.3,669.2>, <c5,CAM_BACK,640.0,549.2>, <c6,CAM_FRONT_RIGHT,676.7,665.8>, and <c4,CAM_FRONT_LEFT,954.3,670.0>."
            }
        ]
    },
    {
        "id": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_7b9d2655d07f41a081fb2d133d93d625_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c5,CAM_BACK,640.0,549.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_7b9d2655d07f41a081fb2d133d93d625_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,605.0,691.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_7b9d2655d07f41a081fb2d133d93d625_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,605.0,691.7>? 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": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_7b9d2655d07f41a081fb2d133d93d625_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,357.5,647.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_7b9d2655d07f41a081fb2d133d93d625_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.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": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_7b9d2655d07f41a081fb2d133d93d625_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.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": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_8e7579096eca460e99b74c9db9c413fc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845615762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845615754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845615770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845615787544.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845615797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845615777893.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 front of the ego vehicle, a roadblock to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a black car to the back of the ego vehicle, and a silver sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,677.5,527.5>, <c2,CAM_FRONT,565.8,559.2>, <c3,CAM_FRONT,1245.8,549.2>, <c4,CAM_BACK,850.8,534.2>, and <c5,CAM_FRONT_RIGHT,399.2,704.2>."
            }
        ]
    },
    {
        "id": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_8e7579096eca460e99b74c9db9c413fc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845615762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845615754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845615770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845615787544.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845615797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845615777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,850.8,534.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_8e7579096eca460e99b74c9db9c413fc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845615762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845615754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845615770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845615787544.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845615797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845615777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,677.5,527.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_8e7579096eca460e99b74c9db9c413fc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845615762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845615754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845615770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845615787544.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845615797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845615777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,677.5,527.5>? 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": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_8e7579096eca460e99b74c9db9c413fc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845615762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845615754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845615770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845615787544.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845615797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845615777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,677.5,527.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,677.5,527.5>."
            }
        ]
    },
    {
        "id": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_8e7579096eca460e99b74c9db9c413fc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845615762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845615754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845615770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845615787544.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845615797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845615777893.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 continue ahead."
            }
        ]
    },
    {
        "id": "c2d5a5e7f7dc4e12b967fff22a0e1bf1_8e7579096eca460e99b74c9db9c413fc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845615762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845615754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845615770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845615787544.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845615797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845615777893.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": "5c2fc0a595c9435cb08e30700c63f9e9_c15c91889b9a48a7ae13ec777513c726_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729169112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729169104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729169120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729169137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729169147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729169128113.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 gray small car to the back of the ego vehicle, and a black small car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,890.8,470.0>, <c2,CAM_BACK,1422.0,625.4>, and <c3,CAM_BACK,851.7,532.5>."
            }
        ]
    },
    {
        "id": "5c2fc0a595c9435cb08e30700c63f9e9_c15c91889b9a48a7ae13ec777513c726_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729169112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729169104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729169120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729169137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729169147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729169128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,1422.0,625.4>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5c2fc0a595c9435cb08e30700c63f9e9_c15c91889b9a48a7ae13ec777513c726_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729169112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729169104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729169120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729169137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729169147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729169128113.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 <c2,CAM_BACK,1422.0,625.4>, the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_BACK,851.7,532.5>, the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c1,CAM_FRONT,890.8,470.0>, it is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "5c2fc0a595c9435cb08e30700c63f9e9_c15c91889b9a48a7ae13ec777513c726_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729169112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729169104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729169120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729169137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729169147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729169128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,890.8,470.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5c2fc0a595c9435cb08e30700c63f9e9_c15c91889b9a48a7ae13ec777513c726_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729169112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729169104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729169120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729169137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729169147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729169128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,890.8,470.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "5c2fc0a595c9435cb08e30700c63f9e9_c15c91889b9a48a7ae13ec777513c726_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729169112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729169104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729169120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729169137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729169147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729169128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_BACK,1422.0,625.4>? 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": "5c2fc0a595c9435cb08e30700c63f9e9_c15c91889b9a48a7ae13ec777513c726_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729169112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729169104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729169120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729169137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729169147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729169128113.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 left."
            }
        ]
    },
    {
        "id": "5c2fc0a595c9435cb08e30700c63f9e9_c15c91889b9a48a7ae13ec777513c726_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729169112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729169104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729169120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729169137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729169147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729169128113.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": "1e3f0bd8063a4084b7104345b20bfb80_30f78a8036474ae2b3aa386b2f65b899_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290010162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290010154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290010170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290010187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290010197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290010178113.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 front of the ego vehicle, a black SUV to the front of the ego vehicle, a silver gray sedan to the back of the ego vehicle, a black SUV to the back of the ego vehicle, a red car to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1591.7,616.7>, <c2,CAM_FRONT,645.0,512.5>, <c3,CAM_BACK,1335.0,620.8>, <c4,CAM_BACK,981.7,505.0>, <c5,CAM_FRONT,1223.3,534.2>, and <c6,CAM_FRONT,828.9,443.1>."
            }
        ]
    },
    {
        "id": "1e3f0bd8063a4084b7104345b20bfb80_30f78a8036474ae2b3aa386b2f65b899_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290010162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290010154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290010170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290010187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290010197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290010178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,645.0,512.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1e3f0bd8063a4084b7104345b20bfb80_30f78a8036474ae2b3aa386b2f65b899_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290010162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290010154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290010170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290010187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290010197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290010178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1591.7,616.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1e3f0bd8063a4084b7104345b20bfb80_30f78a8036474ae2b3aa386b2f65b899_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290010162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290010154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290010170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290010187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290010197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290010178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1591.7,616.7>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "1e3f0bd8063a4084b7104345b20bfb80_30f78a8036474ae2b3aa386b2f65b899_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290010162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290010154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290010170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290010187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290010197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290010178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1591.7,616.7>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "1e3f0bd8063a4084b7104345b20bfb80_30f78a8036474ae2b3aa386b2f65b899_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290010162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290010154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290010170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290010187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290010197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290010178113.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": "1e3f0bd8063a4084b7104345b20bfb80_30f78a8036474ae2b3aa386b2f65b899_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290010162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290010154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290010170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290010187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290010197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290010178113.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": "7cf32f906f50415786414ce8bbe10e9b_6ad4fe86d6024312ac4ee13df6bf7d83_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915729912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915729904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915729919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915729937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915729947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915729927813.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 of the ego vehicle, a black sedan to the front right of the ego vehicle, a bicycle by the roadside to the front of the ego vehicle, and a pedestrian crosswalk to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,689.2,491.7>, <c2,CAM_FRONT_RIGHT,828.3,585.0>, <c3,CAM_FRONT,848.3,445.0>, and <c4,CAM_FRONT,652.6,642.9>."
            }
        ]
    },
    {
        "id": "7cf32f906f50415786414ce8bbe10e9b_6ad4fe86d6024312ac4ee13df6bf7d83_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915729912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915729904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915729919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915729937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915729947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915729927813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,689.2,491.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7cf32f906f50415786414ce8bbe10e9b_6ad4fe86d6024312ac4ee13df6bf7d83_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915729912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915729904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915729919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915729937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915729947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915729927813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,689.2,491.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7cf32f906f50415786414ce8bbe10e9b_6ad4fe86d6024312ac4ee13df6bf7d83_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915729912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915729904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915729919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915729937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915729947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915729927813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,689.2,491.7>? 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": "7cf32f906f50415786414ce8bbe10e9b_6ad4fe86d6024312ac4ee13df6bf7d83_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915729912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915729904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915729919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915729937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915729947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915729927813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,689.2,491.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "7cf32f906f50415786414ce8bbe10e9b_6ad4fe86d6024312ac4ee13df6bf7d83_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915729912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915729904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915729919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915729937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915729947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915729927813.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": "7cf32f906f50415786414ce8bbe10e9b_6ad4fe86d6024312ac4ee13df6bf7d83_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915729912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915729904917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915729919956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915729937570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915729947295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915729927813.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": "4f679c8f8f6d4f5d8466253dda4733ba_9ed5ab144a304a3b801a200406099d47_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798733112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798733104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798733120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798733137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798733147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798733127893.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 left of the ego vehicle, a black sedan car to the back of the ego vehicle, a white truck to the front left of the ego vehicle, a electric car to the back of the ego vehicle, and a white SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,645.0,685.0>, <c2,CAM_BACK,890.0,606.7>, <c3,CAM_FRONT_LEFT,736.7,434.2>, <c4,CAM_BACK,552.5,685.0>, and <c5,CAM_FRONT,851.7,652.5>."
            }
        ]
    },
    {
        "id": "4f679c8f8f6d4f5d8466253dda4733ba_9ed5ab144a304a3b801a200406099d47_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798733112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798733104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798733120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798733137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798733147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798733127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_LEFT,645.0,685.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4f679c8f8f6d4f5d8466253dda4733ba_9ed5ab144a304a3b801a200406099d47_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798733112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798733104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798733120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798733137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798733147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798733127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,645.0,685.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4f679c8f8f6d4f5d8466253dda4733ba_9ed5ab144a304a3b801a200406099d47_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798733112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798733104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798733120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798733137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798733147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798733127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,645.0,685.0>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary, the reason is to follow the traffic rules, high."
            }
        ]
    },
    {
        "id": "4f679c8f8f6d4f5d8466253dda4733ba_9ed5ab144a304a3b801a200406099d47_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798733112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798733104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798733120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798733137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798733147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798733127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,645.0,685.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "4f679c8f8f6d4f5d8466253dda4733ba_9ed5ab144a304a3b801a200406099d47_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798733112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798733104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798733120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798733137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798733147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798733127893.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": "4f679c8f8f6d4f5d8466253dda4733ba_9ed5ab144a304a3b801a200406099d47_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798733112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798733104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798733120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798733137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798733147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798733127893.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": "4f679c8f8f6d4f5d8466253dda4733ba_b0ee7a58b7b949e9b729fde056b346ac_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798736662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798736654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798736670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798736687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798736697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798736677893.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 left of the ego vehicle, a gray sedan to the front of the ego vehicle, a black sedan to the back of the ego vehicle, a white truck to the front left of the ego vehicle, a person riding an electric bike to the back of the ego vehicle, and a white SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,312.5,620.8>, <c2,CAM_FRONT,170.0,635.0>, <c3,CAM_BACK,890.0,604.2>, <c4,CAM_FRONT_LEFT,730.8,436.7>, <c5,CAM_BACK,552.5,685.0>, and <c6,CAM_FRONT,852.5,651.7>."
            }
        ]
    },
    {
        "id": "4f679c8f8f6d4f5d8466253dda4733ba_b0ee7a58b7b949e9b729fde056b346ac_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798736662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798736654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798736670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798736687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798736697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798736677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,170.0,635.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4f679c8f8f6d4f5d8466253dda4733ba_b0ee7a58b7b949e9b729fde056b346ac_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798736662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798736654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798736670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798736687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798736697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798736677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,312.5,620.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4f679c8f8f6d4f5d8466253dda4733ba_b0ee7a58b7b949e9b729fde056b346ac_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798736662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798736654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798736670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798736687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798736697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798736677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,312.5,620.8>? 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, and the probability of this action is high."
            }
        ]
    },
    {
        "id": "4f679c8f8f6d4f5d8466253dda4733ba_b0ee7a58b7b949e9b729fde056b346ac_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798736662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798736654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798736670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798736687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798736697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798736677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,170.0,635.0>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "4f679c8f8f6d4f5d8466253dda4733ba_b0ee7a58b7b949e9b729fde056b346ac_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798736662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798736654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798736670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798736687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798736697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798736677893.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, and slightly offset to the left."
            }
        ]
    },
    {
        "id": "4f679c8f8f6d4f5d8466253dda4733ba_b0ee7a58b7b949e9b729fde056b346ac_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798736662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798736654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798736670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798736687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798736697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798736677893.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": "da41ecbc644b4915b84bb732e35ebf8c_779e80acb8804c0f9d7f7c241a83a601_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658930162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658930154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658930170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658930187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658930197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658930178187.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 truck to the back right of the ego vehicle, a white truck to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,668.3,432.5>, <c2,CAM_FRONT,1595.0,511.7>, <c3,CAM_BACK,954.2,556.7>, and <c4,CAM_FRONT,1236.7,504.2>."
            }
        ]
    },
    {
        "id": "da41ecbc644b4915b84bb732e35ebf8c_779e80acb8804c0f9d7f7c241a83a601_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658930162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658930154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658930170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658930187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658930197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658930178187.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,954.2,556.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "da41ecbc644b4915b84bb732e35ebf8c_779e80acb8804c0f9d7f7c241a83a601_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658930162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658930154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658930170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658930187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658930197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658930178187.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,668.3,432.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "da41ecbc644b4915b84bb732e35ebf8c_779e80acb8804c0f9d7f7c241a83a601_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658930162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658930154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658930170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658930187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658930197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658930178187.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,668.3,432.5>? 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": "da41ecbc644b4915b84bb732e35ebf8c_779e80acb8804c0f9d7f7c241a83a601_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658930162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658930154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658930170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658930187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658930197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658930178187.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,668.3,432.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "da41ecbc644b4915b84bb732e35ebf8c_779e80acb8804c0f9d7f7c241a83a601_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658930162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658930154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658930170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658930187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658930197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658930178187.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "da41ecbc644b4915b84bb732e35ebf8c_779e80acb8804c0f9d7f7c241a83a601_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658930162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658930154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658930170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658930187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658930197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658930178187.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 with normal speed."
            }
        ]
    },
    {
        "id": "84f4c0747550493f959595dae6785cd3_a023d5553f754eebae012e88cbe79c21_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729260362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729260354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729260370495.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729260387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729260397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729260378113.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 bus to the back of the ego vehicle, a white truck to the back of the ego vehicle, a black SUV to the back of the ego vehicle, and a black car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,548.3,490.8>, <c2,CAM_BACK,835.8,488.3>, <c3,CAM_BACK,1012.5,518.3>, <c4,CAM_BACK,279.0,671.6>, and <c5,CAM_BACK,551.7,558.3>."
            }
        ]
    },
    {
        "id": "84f4c0747550493f959595dae6785cd3_a023d5553f754eebae012e88cbe79c21_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729260362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729260354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729260370495.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729260387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729260397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729260378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,548.3,490.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "84f4c0747550493f959595dae6785cd3_a023d5553f754eebae012e88cbe79c21_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729260362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729260354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729260370495.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729260387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729260397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729260378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,548.3,490.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "84f4c0747550493f959595dae6785cd3_a023d5553f754eebae012e88cbe79c21_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729260362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729260354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729260370495.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729260387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729260397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729260378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,548.3,490.8>? 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": "84f4c0747550493f959595dae6785cd3_a023d5553f754eebae012e88cbe79c21_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729260362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729260354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729260370495.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729260387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729260397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729260378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,548.3,490.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "84f4c0747550493f959595dae6785cd3_a023d5553f754eebae012e88cbe79c21_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729260362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729260354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729260370495.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729260387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729260397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729260378113.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, or brake suddenly."
            }
        ]
    },
    {
        "id": "84f4c0747550493f959595dae6785cd3_a023d5553f754eebae012e88cbe79c21_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729260362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729260354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729260370495.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729260387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729260397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729260378113.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": "38b3010304734913bb148d17ebbc352b_9e15f9737f8b40f4a9496b60a341ab7e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296457112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296457104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296457120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296457137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296457147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296457128113.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 back right of the ego vehicle, a white SUV to the front of the ego vehicle, pedestrians crossing the road to the front of the ego vehicle, a white SUV to the front of the ego vehicle, and a yellow light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1277.5,610.0>, <c2,CAM_FRONT,629.2,485.0>, <c3,CAM_FRONT,1476.7,501.7>, <c4,CAM_FRONT,715.8,483.3>, and <c5,CAM_FRONT,878.0,213.6>."
            }
        ]
    },
    {
        "id": "38b3010304734913bb148d17ebbc352b_9e15f9737f8b40f4a9496b60a341ab7e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296457112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296457104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296457120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296457137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296457147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296457128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,629.2,485.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "38b3010304734913bb148d17ebbc352b_9e15f9737f8b40f4a9496b60a341ab7e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296457112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296457104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296457120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296457137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296457147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296457128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1277.5,610.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "38b3010304734913bb148d17ebbc352b_9e15f9737f8b40f4a9496b60a341ab7e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296457112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296457104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296457120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296457137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296457147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296457128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1277.5,610.0>? 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": "38b3010304734913bb148d17ebbc352b_9e15f9737f8b40f4a9496b60a341ab7e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296457112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296457104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296457120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296457137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296457147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296457128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,1277.5,610.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "38b3010304734913bb148d17ebbc352b_9e15f9737f8b40f4a9496b60a341ab7e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296457112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296457104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296457120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296457137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296457147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296457128113.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": "38b3010304734913bb148d17ebbc352b_9e15f9737f8b40f4a9496b60a341ab7e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296457112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296457104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296457120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296457137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296457147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296457128113.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": "f123185f3bb64faebc08d4453aec2659_a3dfce0d7de94f7ab6475729b8736e84_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729515662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729515654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729515670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729515687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729515697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729515678113.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 back of the ego vehicle, a black sedan to the front of the ego vehicle, and a black sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,652.5,456.7>, <c2,CAM_FRONT,327.5,546.7>, and <c3,CAM_BACK_RIGHT,233.3,567.5>."
            }
        ]
    },
    {
        "id": "f123185f3bb64faebc08d4453aec2659_a3dfce0d7de94f7ab6475729b8736e84_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729515662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729515654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729515670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729515687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729515697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729515678113.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 <c2,CAM_FRONT,327.5,546.7>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c1,CAM_BACK,652.5,456.7>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c3,CAM_BACK_RIGHT,233.3,567.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "f123185f3bb64faebc08d4453aec2659_a3dfce0d7de94f7ab6475729b8736e84_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729515662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729515654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729515670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729515687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729515697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729515678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,652.5,456.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f123185f3bb64faebc08d4453aec2659_a3dfce0d7de94f7ab6475729b8736e84_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729515662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729515654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729515670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729515687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729515697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729515678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,652.5,456.7>? 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 probability."
            }
        ]
    },
    {
        "id": "f123185f3bb64faebc08d4453aec2659_a3dfce0d7de94f7ab6475729b8736e84_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729515662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729515654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729515670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729515687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729515697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729515678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,652.5,456.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "f123185f3bb64faebc08d4453aec2659_a3dfce0d7de94f7ab6475729b8736e84_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729515662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729515654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729515670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729515687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729515697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729515678113.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": "f123185f3bb64faebc08d4453aec2659_a3dfce0d7de94f7ab6475729b8736e84_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729515662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729515654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729515670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729515687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729515697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729515678113.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": "103b54209e584cd4b7ed2890eca2e126_af154963c3b64a59b6c2b33e12ce983c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656896262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656896254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656896270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656896287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656896297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656896278113.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 bicycle to the back of the ego vehicle, a blue SUV to the front of the ego vehicle, a black SUV to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,437.5,518.3>, <c2,CAM_FRONT,746.7,489.2>, <c3,CAM_FRONT,835.0,491.7>, <c4,CAM_BACK,890.8,536.7>, and <c5,CAM_FRONT,881.7,489.2>."
            }
        ]
    },
    {
        "id": "103b54209e584cd4b7ed2890eca2e126_af154963c3b64a59b6c2b33e12ce983c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656896262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656896254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656896270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656896287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656896297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656896278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,835.0,491.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "103b54209e584cd4b7ed2890eca2e126_af154963c3b64a59b6c2b33e12ce983c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656896262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656896254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656896270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656896287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656896297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656896278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,437.5,518.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "103b54209e584cd4b7ed2890eca2e126_af154963c3b64a59b6c2b33e12ce983c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656896262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656896254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656896270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656896287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656896297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656896278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,437.5,518.3>? 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": "103b54209e584cd4b7ed2890eca2e126_af154963c3b64a59b6c2b33e12ce983c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656896262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656896254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656896270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656896287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656896297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656896278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,746.7,489.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "103b54209e584cd4b7ed2890eca2e126_af154963c3b64a59b6c2b33e12ce983c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656896262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656896254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656896270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656896287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656896297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656896278113.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": "103b54209e584cd4b7ed2890eca2e126_af154963c3b64a59b6c2b33e12ce983c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656896262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656896254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656896270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656896287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656896297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656896278113.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": "103b54209e584cd4b7ed2890eca2e126_7f8343a3bb6a489aaa45cde8e3699db6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656914112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656914104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656914120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656914137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656914147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656914128113.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 truck to the front of the ego vehicle, a black SUV to the front of the ego vehicle, a blue SUV to the back of the ego vehicle, and a blue SUV to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,553.3,570.8>, <c2,CAM_FRONT,978.3,444.2>, <c3,CAM_FRONT,868.3,474.2>, <c4,CAM_BACK,875.8,542.5>, and <c5,CAM_BACK_LEFT,1161.4,676.7>."
            }
        ]
    },
    {
        "id": "103b54209e584cd4b7ed2890eca2e126_7f8343a3bb6a489aaa45cde8e3699db6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656914112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656914104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656914120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656914137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656914147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656914128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,868.3,474.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "103b54209e584cd4b7ed2890eca2e126_7f8343a3bb6a489aaa45cde8e3699db6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656914112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656914104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656914120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656914137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656914147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656914128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,553.3,570.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "103b54209e584cd4b7ed2890eca2e126_7f8343a3bb6a489aaa45cde8e3699db6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656914112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656914104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656914120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656914137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656914147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656914128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,553.3,570.8>? 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": "103b54209e584cd4b7ed2890eca2e126_7f8343a3bb6a489aaa45cde8e3699db6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656914112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656914104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656914120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656914137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656914147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656914128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,978.3,444.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c2,CAM_FRONT,978.3,444.2>."
            }
        ]
    },
    {
        "id": "103b54209e584cd4b7ed2890eca2e126_7f8343a3bb6a489aaa45cde8e3699db6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656914112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656914104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656914120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656914137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656914147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656914128113.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": "103b54209e584cd4b7ed2890eca2e126_7f8343a3bb6a489aaa45cde8e3699db6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656914112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656914104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656914120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656914137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656914147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656914128113.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": "f612aec0c3e34e32b2e9e48670cdecca_d7be461787154e41babdbde402f5c3ab_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487787762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487787754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487787770491.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487787787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487787797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487787778113.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 white sedan to the back of the ego vehicle, a white commercial vehicle to the back of the ego vehicle, a gray SUV to the back right of the ego vehicle, and a black and red traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1286.7,427.6>, <c2,CAM_BACK,209.1,636.7>, <c3,CAM_BACK,902.5,558.3>, <c4,CAM_BACK_RIGHT,524.2,619.2>, and <c5,CAM_FRONT,654.6,344.4>."
            }
        ]
    },
    {
        "id": "f612aec0c3e34e32b2e9e48670cdecca_d7be461787154e41babdbde402f5c3ab_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487787762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487787754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487787770491.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487787787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487787797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487787778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1286.7,427.6> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f612aec0c3e34e32b2e9e48670cdecca_d7be461787154e41babdbde402f5c3ab_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487787762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487787754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487787770491.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487787787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487787797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487787778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1286.7,427.6>? 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, which is highly probable."
            }
        ]
    },
    {
        "id": "f612aec0c3e34e32b2e9e48670cdecca_d7be461787154e41babdbde402f5c3ab_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487787762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487787754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487787770491.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487787787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487787797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487787778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1286.7,427.6>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "f612aec0c3e34e32b2e9e48670cdecca_d7be461787154e41babdbde402f5c3ab_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487787762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487787754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487787770491.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487787787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487787797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487787778113.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 suddenly, and turn right."
            }
        ]
    },
    {
        "id": "f612aec0c3e34e32b2e9e48670cdecca_d7be461787154e41babdbde402f5c3ab_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487787762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487787754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487787770491.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487787787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487787797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487787778113.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": "865c607c8ef44f13b39744a0de110740_4242bd83aead46928f1ba25905e5d8ee_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800313862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800313854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800313870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800313887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800313897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800313877893.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 brown SUV to the front of the ego vehicle, a black car to the back of the ego vehicle, a black sedan to the front of the ego vehicle, and a black and yellow traffic sign to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,818.6,533.3>, <c2,CAM_BACK,756.7,507.5>, <c3,CAM_FRONT,1277.5,580.8>, and <c4,CAM_BACK,465.6,582.1>."
            }
        ]
    },
    {
        "id": "865c607c8ef44f13b39744a0de110740_4242bd83aead46928f1ba25905e5d8ee_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800313862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800313854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800313870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800313887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800313897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800313877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,818.6,533.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "865c607c8ef44f13b39744a0de110740_4242bd83aead46928f1ba25905e5d8ee_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800313862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800313854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800313870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800313887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800313897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800313877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,818.6,533.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "865c607c8ef44f13b39744a0de110740_4242bd83aead46928f1ba25905e5d8ee_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800313862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800313854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800313870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800313887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800313897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800313877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,818.6,533.3>? 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": "865c607c8ef44f13b39744a0de110740_4242bd83aead46928f1ba25905e5d8ee_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800313862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800313854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800313870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800313887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800313897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800313877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,818.6,533.3>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,818.6,533.3>."
            }
        ]
    },
    {
        "id": "865c607c8ef44f13b39744a0de110740_4242bd83aead46928f1ba25905e5d8ee_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800313862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800313854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800313870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800313887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800313897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800313877893.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": "865c607c8ef44f13b39744a0de110740_4242bd83aead46928f1ba25905e5d8ee_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800313862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800313854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800313870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800313887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800313897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800313877893.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": "865c607c8ef44f13b39744a0de110740_2be3a584f7254ad49cea8c5b273ada14_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800308912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800308904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800308920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800308937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800308947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800308927893.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 back of the ego vehicle, a black small car to the front of the ego vehicle, and a silver gray sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,730.0,504.2>, <c2,CAM_FRONT,840.8,530.8>, and <c3,CAM_FRONT_RIGHT,309.2,694.2>."
            }
        ]
    },
    {
        "id": "865c607c8ef44f13b39744a0de110740_2be3a584f7254ad49cea8c5b273ada14_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800308912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800308904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800308920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800308937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800308947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800308927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,730.0,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "865c607c8ef44f13b39744a0de110740_2be3a584f7254ad49cea8c5b273ada14_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800308912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800308904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800308920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800308937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800308947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800308927893.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 <c3,CAM_FRONT_RIGHT,309.2,694.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,840.8,530.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,730.0,504.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "865c607c8ef44f13b39744a0de110740_2be3a584f7254ad49cea8c5b273ada14_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800308912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800308904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800308920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800308937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800308947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800308927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,730.0,504.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "865c607c8ef44f13b39744a0de110740_2be3a584f7254ad49cea8c5b273ada14_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800308912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800308904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800308920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800308937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800308947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800308927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,730.0,504.2>? 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": "865c607c8ef44f13b39744a0de110740_2be3a584f7254ad49cea8c5b273ada14_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800308912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800308904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800308920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800308937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800308947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800308927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,730.0,504.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "865c607c8ef44f13b39744a0de110740_2be3a584f7254ad49cea8c5b273ada14_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800308912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800308904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800308920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800308937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800308947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800308927893.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, or brake gently to a stop."
            }
        ]
    },
    {
        "id": "865c607c8ef44f13b39744a0de110740_2be3a584f7254ad49cea8c5b273ada14_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800308912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800308904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800308920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800308937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800308947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800308927893.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": "66e050dbde3447e5a4b07f0d896f5864_2b099346de194a818717d7aa43b6cc01_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656673012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656673004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656673020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656673037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656673047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656673028113.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 right of the ego vehicle, a green SUV to the back of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,494.2,704.2>, <c2,CAM_BACK,285.8,627.5>, and <c3,CAM_BACK,856.7,516.7>."
            }
        ]
    },
    {
        "id": "66e050dbde3447e5a4b07f0d896f5864_2b099346de194a818717d7aa43b6cc01_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656673012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656673004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656673020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656673037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656673047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656673028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,856.7,516.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "66e050dbde3447e5a4b07f0d896f5864_2b099346de194a818717d7aa43b6cc01_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656673012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656673004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656673020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656673037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656673047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656673028113.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 <c1,CAM_FRONT_RIGHT,494.2,704.2>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_BACK,285.8,627.5>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,856.7,516.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "66e050dbde3447e5a4b07f0d896f5864_2b099346de194a818717d7aa43b6cc01_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656673012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656673004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656673020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656673037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656673047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656673028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,494.2,704.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "66e050dbde3447e5a4b07f0d896f5864_2b099346de194a818717d7aa43b6cc01_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656673012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656673004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656673020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656673037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656673047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656673028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,494.2,704.2>? 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": "66e050dbde3447e5a4b07f0d896f5864_2b099346de194a818717d7aa43b6cc01_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656673012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656673004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656673020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656673037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656673047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656673028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,494.2,704.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "66e050dbde3447e5a4b07f0d896f5864_2b099346de194a818717d7aa43b6cc01_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656673012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656673004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656673020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656673037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656673047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656673028113.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": "66e050dbde3447e5a4b07f0d896f5864_2b099346de194a818717d7aa43b6cc01_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656673012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656673004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656673020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656673037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656673047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656673028113.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": "66e050dbde3447e5a4b07f0d896f5864_58ec3754b5684cb38e6f3de1f4c92d95_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656657762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656657755263.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656657770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656657787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656657797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656657778113.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 front right of the ego vehicle, a gray sedan to the back of the ego vehicle, a man wearing a blue shirt to the front of the ego vehicle, a white sedan car to the front of the ego vehicle, and a black SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1110.6,671.4>, <c2,CAM_BACK,698.4,523.7>, <c3,CAM_FRONT,376.7,515.0>, <c4,CAM_FRONT,762.5,485.8>, and <c5,CAM_FRONT_RIGHT,247.2,655.6>."
            }
        ]
    },
    {
        "id": "66e050dbde3447e5a4b07f0d896f5864_58ec3754b5684cb38e6f3de1f4c92d95_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656657762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656657755263.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656657770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656657787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656657797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656657778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,698.4,523.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "66e050dbde3447e5a4b07f0d896f5864_58ec3754b5684cb38e6f3de1f4c92d95_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656657762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656657755263.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656657770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656657787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656657797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656657778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1110.6,671.4> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "66e050dbde3447e5a4b07f0d896f5864_58ec3754b5684cb38e6f3de1f4c92d95_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656657762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656657755263.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656657770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656657787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656657797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656657778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1110.6,671.4>? 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": "66e050dbde3447e5a4b07f0d896f5864_58ec3754b5684cb38e6f3de1f4c92d95_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656657762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656657755263.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656657770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656657787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656657797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656657778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1110.6,671.4>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "66e050dbde3447e5a4b07f0d896f5864_58ec3754b5684cb38e6f3de1f4c92d95_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656657762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656657755263.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656657770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656657787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656657797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656657778113.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "66e050dbde3447e5a4b07f0d896f5864_58ec3754b5684cb38e6f3de1f4c92d95_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656657762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656657755263.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656657770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656657787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656657797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656657778113.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": "590b4e5a4f94426ab3b1a66f35e140d5_e34cc7bd436940aba3d9782aef1b66a2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292734262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292734254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292734270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292734287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292734297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292734278113.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 green truck to the front left of the ego vehicle, a blue sedan to the back left of the ego vehicle, and a gray pickup truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,789.2,581.7>, <c2,CAM_FRONT_LEFT,1266.7,421.7>, <c3,CAM_BACK_LEFT,870.2,668.5>, and <c4,CAM_BACK,1134.2,553.3>."
            }
        ]
    },
    {
        "id": "590b4e5a4f94426ab3b1a66f35e140d5_e34cc7bd436940aba3d9782aef1b66a2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292734262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292734254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292734270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292734287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292734297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292734278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,1266.7,421.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "590b4e5a4f94426ab3b1a66f35e140d5_e34cc7bd436940aba3d9782aef1b66a2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292734262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292734254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292734270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292734287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292734297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292734278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,789.2,581.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "590b4e5a4f94426ab3b1a66f35e140d5_e34cc7bd436940aba3d9782aef1b66a2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292734262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292734254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292734270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292734287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292734297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292734278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,789.2,581.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is to follow the traffic rules, which is high probability."
            }
        ]
    },
    {
        "id": "590b4e5a4f94426ab3b1a66f35e140d5_e34cc7bd436940aba3d9782aef1b66a2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292734262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292734254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292734270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292734287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292734297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292734278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,789.2,581.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "590b4e5a4f94426ab3b1a66f35e140d5_e34cc7bd436940aba3d9782aef1b66a2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292734262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292734254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292734270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292734287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292734297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292734278113.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, slightly offset to the right, and continue at the same speed."
            }
        ]
    },
    {
        "id": "590b4e5a4f94426ab3b1a66f35e140d5_e34cc7bd436940aba3d9782aef1b66a2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292734262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292734254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292734270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292734287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292734297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292734278113.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": "37b32e4e8cf846679b2c0cb342dbd4aa_92e2bb23837247fbb241a955584210df_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402334512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402334504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402334520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402334537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402334547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402334527893.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 truck to the front of the ego vehicle, a red car to the back of the ego vehicle, and a white arrow indicating straight, left, and right turns to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,539.2,542.5>, <c2,CAM_FRONT,1238.3,475.8>, <c3,CAM_BACK,550.0,521.7>, and <c4,CAM_FRONT,1009.9,757.3>."
            }
        ]
    },
    {
        "id": "37b32e4e8cf846679b2c0cb342dbd4aa_92e2bb23837247fbb241a955584210df_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402334512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402334504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402334520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402334537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402334547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402334527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,550.0,521.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "37b32e4e8cf846679b2c0cb342dbd4aa_92e2bb23837247fbb241a955584210df_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402334512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402334504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402334520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402334537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402334547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402334527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,539.2,542.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "37b32e4e8cf846679b2c0cb342dbd4aa_92e2bb23837247fbb241a955584210df_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402334512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402334504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402334520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402334537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402334547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402334527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,539.2,542.5>? 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, and the probability is high."
            }
        ]
    },
    {
        "id": "37b32e4e8cf846679b2c0cb342dbd4aa_92e2bb23837247fbb241a955584210df_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402334512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402334504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402334520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402334537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402334547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402334527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,539.2,542.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "37b32e4e8cf846679b2c0cb342dbd4aa_92e2bb23837247fbb241a955584210df_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402334512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402334504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402334520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402334537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402334547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402334527893.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, slightly offset to the right, and keep going at the same speed."
            }
        ]
    },
    {
        "id": "37b32e4e8cf846679b2c0cb342dbd4aa_92e2bb23837247fbb241a955584210df_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402334512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402334504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402334520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402334537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402334547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402334527893.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 very fast."
            }
        ]
    },
    {
        "id": "37b32e4e8cf846679b2c0cb342dbd4aa_3fa896ec033d435e8d4c6e1d53dca2df_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402328612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402328604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402328620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402328637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402328647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402328627893.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 sedan car to the front of the ego vehicle, a slow down to the back of the ego vehicle, and a road sign to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,975.0,502.5>, <c2,CAM_FRONT,1188.4,610.3>, <c3,CAM_BACK,247.8,497.6>, and <c4,CAM_BACK,106.5,482.2>."
            }
        ]
    },
    {
        "id": "37b32e4e8cf846679b2c0cb342dbd4aa_3fa896ec033d435e8d4c6e1d53dca2df_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402328612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402328604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402328620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402328637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402328647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402328627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,975.0,502.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "37b32e4e8cf846679b2c0cb342dbd4aa_3fa896ec033d435e8d4c6e1d53dca2df_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402328612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402328604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402328620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402328637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402328647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402328627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,975.0,502.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "37b32e4e8cf846679b2c0cb342dbd4aa_3fa896ec033d435e8d4c6e1d53dca2df_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402328612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402328604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402328620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402328637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402328647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402328627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,975.0,502.5>? 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": "37b32e4e8cf846679b2c0cb342dbd4aa_3fa896ec033d435e8d4c6e1d53dca2df_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402328612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402328604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402328620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402328637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402328647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402328627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,975.0,502.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "37b32e4e8cf846679b2c0cb342dbd4aa_3fa896ec033d435e8d4c6e1d53dca2df_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402328612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402328604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402328620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402328637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402328647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402328627893.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": "37b32e4e8cf846679b2c0cb342dbd4aa_3fa896ec033d435e8d4c6e1d53dca2df_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402328612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402328604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402328620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402328637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402328647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402328627893.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": "cd122d67c51c4fa4902486897cad91ad_a49262c15fd440b49a239dc7f8c2e0c9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573394362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573394354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573394370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573394387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573394397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573394378113.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 of the ego vehicle, a black car to the back 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 <c1,CAM_FRONT,1511.7,545.0>, <c2,CAM_BACK,825.0,510.0>, <c3,CAM_FRONT,1223.3,520.0>, and <c4,CAM_FRONT,666.7,487.5>."
            }
        ]
    },
    {
        "id": "cd122d67c51c4fa4902486897cad91ad_a49262c15fd440b49a239dc7f8c2e0c9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573394362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573394354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573394370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573394387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573394397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573394378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,825.0,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cd122d67c51c4fa4902486897cad91ad_a49262c15fd440b49a239dc7f8c2e0c9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573394362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573394354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573394370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573394387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573394397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573394378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1511.7,545.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cd122d67c51c4fa4902486897cad91ad_a49262c15fd440b49a239dc7f8c2e0c9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573394362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573394354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573394370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573394387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573394397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573394378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1511.7,545.0>? 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 is high."
            }
        ]
    },
    {
        "id": "cd122d67c51c4fa4902486897cad91ad_a49262c15fd440b49a239dc7f8c2e0c9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573394362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573394354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573394370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573394387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573394397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573394378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1511.7,545.0>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "cd122d67c51c4fa4902486897cad91ad_a49262c15fd440b49a239dc7f8c2e0c9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573394362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573394354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573394370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573394387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573394397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573394378113.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": "cd122d67c51c4fa4902486897cad91ad_a49262c15fd440b49a239dc7f8c2e0c9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573394362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573394354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573394370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573394387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573394397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573394378113.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": "727214583a2a478094d4f093d20c7060_d003b5fe60df4323be4f82140a4dc28a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297841412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297841404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297841420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297841437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297841447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297841428113.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 right of the ego vehicle, a gray sedan to the back of the ego vehicle, a black sedan to the front left of the ego vehicle, a gray SUV to the back of the ego vehicle, and a pedestrian crossing the road in a red shirt to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,75.0,701.7>, <c2,CAM_BACK,861.7,529.2>, <c3,CAM_FRONT_LEFT,1427.5,572.5>, <c4,CAM_BACK,688.3,514.2>, and <c5,CAM_FRONT_LEFT,144.2,603.3>."
            }
        ]
    },
    {
        "id": "727214583a2a478094d4f093d20c7060_d003b5fe60df4323be4f82140a4dc28a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297841412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297841404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297841420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297841437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297841447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297841428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,861.7,529.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "727214583a2a478094d4f093d20c7060_d003b5fe60df4323be4f82140a4dc28a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297841412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297841404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297841420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297841437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297841447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297841428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,75.0,701.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "727214583a2a478094d4f093d20c7060_d003b5fe60df4323be4f82140a4dc28a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297841412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297841404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297841420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297841437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297841447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297841428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,75.0,701.7>? 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": "727214583a2a478094d4f093d20c7060_d003b5fe60df4323be4f82140a4dc28a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297841412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297841404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297841420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297841437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297841447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297841428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,75.0,701.7>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "727214583a2a478094d4f093d20c7060_d003b5fe60df4323be4f82140a4dc28a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297841412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297841404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297841420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297841437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297841447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297841428113.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": "727214583a2a478094d4f093d20c7060_d003b5fe60df4323be4f82140a4dc28a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297841412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297841404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297841420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297841437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297841447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297841428113.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": "8c7dfcee70754286959b80c6cfe2d246_75b101b1dd92466799ee72a1ca4d2845_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729536928114.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 with cargo to the back of the ego vehicle, a crash barrel to the front of the ego vehicle, a road is relatively empty to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1314.2,519.2>, <c2,CAM_FRONT,1266.7,656.7>, <c3,CAM_FRONT,836.7,490.8>, and <c4,CAM_FRONT,842.9,434.1>."
            }
        ]
    },
    {
        "id": "8c7dfcee70754286959b80c6cfe2d246_75b101b1dd92466799ee72a1ca4d2845_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729536928114.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1314.2,519.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8c7dfcee70754286959b80c6cfe2d246_75b101b1dd92466799ee72a1ca4d2845_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729536928114.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1314.2,519.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8c7dfcee70754286959b80c6cfe2d246_75b101b1dd92466799ee72a1ca4d2845_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729536928114.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1314.2,519.2>? 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": "8c7dfcee70754286959b80c6cfe2d246_75b101b1dd92466799ee72a1ca4d2845_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729536928114.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT,836.7,490.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "8c7dfcee70754286959b80c6cfe2d246_75b101b1dd92466799ee72a1ca4d2845_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729536928114.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, accelerate, and proceed ahead."
            }
        ]
    },
    {
        "id": "8c7dfcee70754286959b80c6cfe2d246_75b101b1dd92466799ee72a1ca4d2845_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729536912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729536904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729536920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729536937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729536947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729536928114.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": "295c6c85275e4376bc8446b4a76504cd_98c325b1dae847c483ab833559c00ae4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033768012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033768004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033768020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033768037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033768047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033768027893.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 black car to the back of the ego vehicle, and a silver truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,885.8,496.7>, <c2,CAM_BACK,94.2,540.0>, and <c3,CAM_BACK,1503.0,457.8>."
            }
        ]
    },
    {
        "id": "295c6c85275e4376bc8446b4a76504cd_98c325b1dae847c483ab833559c00ae4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033768012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033768004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033768020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033768037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033768047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033768027893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,885.8,496.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "295c6c85275e4376bc8446b4a76504cd_98c325b1dae847c483ab833559c00ae4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033768012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033768004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033768020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033768037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033768047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033768027893.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 <c3,CAM_BACK,1503.0,457.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,885.8,496.7>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,94.2,540.0>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "295c6c85275e4376bc8446b4a76504cd_98c325b1dae847c483ab833559c00ae4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033768012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033768004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033768020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033768037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033768047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033768027893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,885.8,496.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "295c6c85275e4376bc8446b4a76504cd_98c325b1dae847c483ab833559c00ae4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033768012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033768004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033768020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033768037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033768047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033768027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,885.8,496.7>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "295c6c85275e4376bc8446b4a76504cd_98c325b1dae847c483ab833559c00ae4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033768012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033768004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033768020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033768037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033768047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033768027893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,885.8,496.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "295c6c85275e4376bc8446b4a76504cd_98c325b1dae847c483ab833559c00ae4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033768012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033768004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033768020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033768037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033768047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033768027893.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": "295c6c85275e4376bc8446b4a76504cd_98c325b1dae847c483ab833559c00ae4_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033768012460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033768004844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033768020339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033768037525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033768047423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033768027893.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": "ae643c14ded14e6ea74f8c8605200ed1_42614121c0e04785846d41f9eed383c7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287071112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287071104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287071120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287071137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287071147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287071128113.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 truck to the front left of the ego vehicle, a red truck to the back of the ego vehicle, and a black sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1432.5,462.5>, <c2,CAM_BACK,1446.7,488.3>, and <c3,CAM_FRONT_LEFT,755.0,625.0>."
            }
        ]
    },
    {
        "id": "ae643c14ded14e6ea74f8c8605200ed1_42614121c0e04785846d41f9eed383c7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287071112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287071104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287071120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287071137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287071147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287071128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1432.5,462.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ae643c14ded14e6ea74f8c8605200ed1_42614121c0e04785846d41f9eed383c7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287071112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287071104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287071120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287071137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287071147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287071128113.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 <c3,CAM_FRONT_LEFT,755.0,625.0>. The object is going ahead, so the ego vehicle should turn left. Secondly, notice <c1,CAM_FRONT_LEFT,1432.5,462.5>. The object is going ahead, so the ego vehicle should turn left. Thirdly, notice <c2,CAM_BACK,1446.7,488.3>. The object is going ahead, so the ego vehicle should turn left."
            }
        ]
    },
    {
        "id": "ae643c14ded14e6ea74f8c8605200ed1_42614121c0e04785846d41f9eed383c7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287071112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287071104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287071120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287071137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287071147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287071128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1432.5,462.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ae643c14ded14e6ea74f8c8605200ed1_42614121c0e04785846d41f9eed383c7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287071112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287071104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287071120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287071137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287071147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287071128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1432.5,462.5>? 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, high probability."
            }
        ]
    },
    {
        "id": "ae643c14ded14e6ea74f8c8605200ed1_42614121c0e04785846d41f9eed383c7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287071112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287071104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287071120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287071137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287071147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287071128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1432.5,462.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "ae643c14ded14e6ea74f8c8605200ed1_42614121c0e04785846d41f9eed383c7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287071112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287071104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287071120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287071137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287071147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287071128113.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, slightly offset to the left, and turn left."
            }
        ]
    },
    {
        "id": "ae643c14ded14e6ea74f8c8605200ed1_42614121c0e04785846d41f9eed383c7_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287071112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287071104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287071120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287071137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287071147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287071128113.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 with normal speed."
            }
        ]
    },
    {
        "id": "b519ec833e23450a8bd3340b67f2516b_538b4336b7084e6c8e77cfab20139e72_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731420362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731420354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731420370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731420387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731420397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731420378113.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 back of the ego vehicle, a white commercial vehicle to the front of the ego vehicle, a pedestrian crossing the road to the front left of the ego vehicle, and pedestrians on the roadside to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,535.8,485.0>, <c2,CAM_FRONT,1058.3,492.5>, <c3,CAM_FRONT_LEFT,1252.5,556.7>, and <c4,CAM_FRONT,1316.7,507.5>."
            }
        ]
    },
    {
        "id": "b519ec833e23450a8bd3340b67f2516b_538b4336b7084e6c8e77cfab20139e72_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731420362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731420354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731420370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731420387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731420397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731420378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,535.8,485.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b519ec833e23450a8bd3340b67f2516b_538b4336b7084e6c8e77cfab20139e72_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731420362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731420354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731420370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731420387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731420397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731420378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,535.8,485.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b519ec833e23450a8bd3340b67f2516b_538b4336b7084e6c8e77cfab20139e72_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731420362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731420354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731420370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731420387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731420397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731420378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,535.8,485.0>? 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": "b519ec833e23450a8bd3340b67f2516b_538b4336b7084e6c8e77cfab20139e72_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731420362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731420354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731420370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731420387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731420397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731420378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,1058.3,492.5>?"
            },
            {
                "from": "gpt",
                "value": "Change to the right lane."
            }
        ]
    },
    {
        "id": "b519ec833e23450a8bd3340b67f2516b_538b4336b7084e6c8e77cfab20139e72_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731420362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731420354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731420370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731420387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731420397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731420378113.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, slightly offset to the left, slightly offset to the right, or turn left."
            }
        ]
    },
    {
        "id": "b519ec833e23450a8bd3340b67f2516b_538b4336b7084e6c8e77cfab20139e72_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731420362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731420354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731420370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731420387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731420397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731420378113.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": "b519ec833e23450a8bd3340b67f2516b_ee06737eaacb4c1db2042e0a9601382b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731414362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731414354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731414370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731414387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731414397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731414378113.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 motorhome to the front of the ego vehicle, a black sedan to the front left of the ego vehicle, a silver truck to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a black SUV to the back of the ego vehicle, and a black SUV to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1407.5,447.5>, <c2,CAM_FRONT_LEFT,870.0,618.3>, <c3,CAM_FRONT,859.2,465.8>, <c4,CAM_BACK,758.3,544.2>, <c5,CAM_BACK,1353.3,598.3>, and <c6,CAM_BACK_LEFT,497.5,662.5>."
            }
        ]
    },
    {
        "id": "b519ec833e23450a8bd3340b67f2516b_ee06737eaacb4c1db2042e0a9601382b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731414362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731414354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731414370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731414387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731414397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731414378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,758.3,544.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "b519ec833e23450a8bd3340b67f2516b_ee06737eaacb4c1db2042e0a9601382b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731414362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731414354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731414370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731414387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731414397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731414378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1407.5,447.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b519ec833e23450a8bd3340b67f2516b_ee06737eaacb4c1db2042e0a9601382b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731414362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731414354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731414370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731414387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731414397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731414378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1407.5,447.5>? 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": "b519ec833e23450a8bd3340b67f2516b_ee06737eaacb4c1db2042e0a9601382b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731414362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731414354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731414370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731414387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731414397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731414378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1407.5,447.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "b519ec833e23450a8bd3340b67f2516b_ee06737eaacb4c1db2042e0a9601382b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731414362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731414354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731414370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731414387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731414397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731414378113.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, brake gently to a stop."
            }
        ]
    },
    {
        "id": "b519ec833e23450a8bd3340b67f2516b_ee06737eaacb4c1db2042e0a9601382b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731414362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731414354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731414370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731414387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731414397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731414378113.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 with normal speed."
            }
        ]
    },
    {
        "id": "f444b757d7e2444c889da10f02b73491_ab8bb06d76ba4c38b370e17d3cd1f988_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886240912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886240904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886240920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886240937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886240947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886240927896.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 brown sedan to the back of the ego vehicle, and a road is relatively empty to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,739.2,518.3>, <c2,CAM_BACK,801.7,532.5>, and <c3,CAM_BACK,1058.3,525.8>."
            }
        ]
    },
    {
        "id": "f444b757d7e2444c889da10f02b73491_ab8bb06d76ba4c38b370e17d3cd1f988_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886240912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886240904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886240920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886240937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886240947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886240927896.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,739.2,518.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f444b757d7e2444c889da10f02b73491_ab8bb06d76ba4c38b370e17d3cd1f988_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886240912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886240904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886240920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886240937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886240947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886240927896.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 <c2,CAM_BACK,801.7,532.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_BACK,739.2,518.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,1058.3,525.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "f444b757d7e2444c889da10f02b73491_ab8bb06d76ba4c38b370e17d3cd1f988_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886240912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886240904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886240920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886240937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886240947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886240927896.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,739.2,518.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f444b757d7e2444c889da10f02b73491_ab8bb06d76ba4c38b370e17d3cd1f988_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886240912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886240904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886240920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886240937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886240947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886240927896.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,739.2,518.3>? 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": "f444b757d7e2444c889da10f02b73491_ab8bb06d76ba4c38b370e17d3cd1f988_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886240912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886240904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886240920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886240937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886240947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886240927896.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,739.2,518.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "f444b757d7e2444c889da10f02b73491_ab8bb06d76ba4c38b370e17d3cd1f988_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886240912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886240904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886240920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886240937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886240947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886240927896.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": "f444b757d7e2444c889da10f02b73491_ab8bb06d76ba4c38b370e17d3cd1f988_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886240912465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886240904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886240920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886240937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886240947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886240927896.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": "095d9b93b583425f910ae2afaf1d017d_95eebfccdb2e40e7b484d88ccdfbc023_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402189262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402189254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402189270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402189287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402189297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402189277893.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 right of the ego vehicle, a yellow van to the front of the ego vehicle, a white commercial vehicle to the front right of the ego vehicle, and a person wearing a white shirt to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,784.2,442.5>, <c2,CAM_FRONT,1020.0,502.5>, <c3,CAM_FRONT_RIGHT,1203.5,466.0>, and <c4,CAM_FRONT,1373.3,463.3>."
            }
        ]
    },
    {
        "id": "095d9b93b583425f910ae2afaf1d017d_95eebfccdb2e40e7b484d88ccdfbc023_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402189262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402189254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402189270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402189287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402189297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402189277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,784.2,442.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "095d9b93b583425f910ae2afaf1d017d_95eebfccdb2e40e7b484d88ccdfbc023_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402189262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402189254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402189270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402189287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402189297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402189277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,784.2,442.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "095d9b93b583425f910ae2afaf1d017d_95eebfccdb2e40e7b484d88ccdfbc023_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402189262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402189254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402189270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402189287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402189297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402189277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,784.2,442.5>? 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": "095d9b93b583425f910ae2afaf1d017d_95eebfccdb2e40e7b484d88ccdfbc023_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402189262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402189254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402189270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402189287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402189297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402189277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,784.2,442.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "095d9b93b583425f910ae2afaf1d017d_95eebfccdb2e40e7b484d88ccdfbc023_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402189262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402189254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402189270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402189287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402189297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402189277893.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, slightly offset to the left, and turn left."
            }
        ]
    },
    {
        "id": "095d9b93b583425f910ae2afaf1d017d_95eebfccdb2e40e7b484d88ccdfbc023_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402189262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402189254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402189270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402189287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402189297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402189277893.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": "095d9b93b583425f910ae2afaf1d017d_ad5ef7b2d0d6478e84d8aa573a004aae_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402188762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402188754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402188770342.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402188787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402188797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402188777893.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 right of the ego vehicle, a yellow van to the front of the ego vehicle, a white van to the front right of the ego vehicle, and a pedestrian to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,370.0,465.0>, <c2,CAM_FRONT,710.0,496.7>, <c3,CAM_FRONT_RIGHT,667.5,483.3>, and <c4,CAM_FRONT,963.3,474.2>."
            }
        ]
    },
    {
        "id": "095d9b93b583425f910ae2afaf1d017d_ad5ef7b2d0d6478e84d8aa573a004aae_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402188762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402188754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402188770342.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402188787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402188797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402188777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,370.0,465.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "095d9b93b583425f910ae2afaf1d017d_ad5ef7b2d0d6478e84d8aa573a004aae_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402188762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402188754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402188770342.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402188787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402188797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402188777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,370.0,465.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "095d9b93b583425f910ae2afaf1d017d_ad5ef7b2d0d6478e84d8aa573a004aae_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402188762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402188754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402188770342.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402188787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402188797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402188777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,370.0,465.0>? 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": "095d9b93b583425f910ae2afaf1d017d_ad5ef7b2d0d6478e84d8aa573a004aae_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402188762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402188754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402188770342.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402188787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402188797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402188777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,370.0,465.0>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "095d9b93b583425f910ae2afaf1d017d_ad5ef7b2d0d6478e84d8aa573a004aae_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402188762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402188754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402188770342.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402188787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402188797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402188777893.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": "095d9b93b583425f910ae2afaf1d017d_ad5ef7b2d0d6478e84d8aa573a004aae_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402188762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402188754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402188770342.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402188787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402188797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402188777893.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": "bc5daf905b854dbc8944811c4b7c319d_d61162dc3a8f4c1a982c42e2a21b71a4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798870162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798870154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798870170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798870187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798870197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798870177893.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 person riding a black motorcycle to the back 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 <c1,CAM_FRONT,1085.8,515.0>, <c2,CAM_BACK,893.3,540.8>, <c3,CAM_BACK,847.5,521.7>, and <c4,CAM_FRONT,835.8,533.3>."
            }
        ]
    },
    {
        "id": "bc5daf905b854dbc8944811c4b7c319d_d61162dc3a8f4c1a982c42e2a21b71a4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798870162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798870154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798870170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798870187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798870197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798870177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1085.8,515.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bc5daf905b854dbc8944811c4b7c319d_d61162dc3a8f4c1a982c42e2a21b71a4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798870162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798870154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798870170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798870187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798870197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798870177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1085.8,515.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bc5daf905b854dbc8944811c4b7c319d_d61162dc3a8f4c1a982c42e2a21b71a4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798870162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798870154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798870170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798870187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798870197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798870177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1085.8,515.0>? 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 highly probable."
            }
        ]
    },
    {
        "id": "bc5daf905b854dbc8944811c4b7c319d_d61162dc3a8f4c1a982c42e2a21b71a4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798870162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798870154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798870170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798870187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798870197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798870177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1085.8,515.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "bc5daf905b854dbc8944811c4b7c319d_d61162dc3a8f4c1a982c42e2a21b71a4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798870162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798870154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798870170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798870187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798870197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798870177893.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, slightly offset to the left, and continue at the same speed."
            }
        ]
    },
    {
        "id": "bc5daf905b854dbc8944811c4b7c319d_d61162dc3a8f4c1a982c42e2a21b71a4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798870162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798870154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798870170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798870187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798870197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798870177893.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": "400b708de5d7434d8964da4a0246d164_f05ea49e1a714096bbda940934fc7c6d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800471362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800471354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800471370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800471387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800471397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800471377947.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 sedan to the front right of the ego vehicle, a black sedan to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,613.3,612.5>, <c2,CAM_FRONT_RIGHT,723.3,609.2>, <c3,CAM_FRONT,373.3,484.2>, and <c4,CAM_FRONT,252.7,383.9>."
            }
        ]
    },
    {
        "id": "400b708de5d7434d8964da4a0246d164_f05ea49e1a714096bbda940934fc7c6d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800471362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800471354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800471370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800471387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800471397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800471377947.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,723.3,609.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "400b708de5d7434d8964da4a0246d164_f05ea49e1a714096bbda940934fc7c6d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800471362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800471354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800471370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800471387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800471397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800471377947.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,613.3,612.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "400b708de5d7434d8964da4a0246d164_f05ea49e1a714096bbda940934fc7c6d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800471362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800471354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800471370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800471387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800471397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800471377947.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,613.3,612.5>? 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 avoid a collision, which has a high probability."
            }
        ]
    },
    {
        "id": "400b708de5d7434d8964da4a0246d164_f05ea49e1a714096bbda940934fc7c6d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800471362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800471354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800471370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800471387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800471397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800471377947.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,613.3,612.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "400b708de5d7434d8964da4a0246d164_f05ea49e1a714096bbda940934fc7c6d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800471362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800471354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800471370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800471387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800471397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800471377947.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, and brake gently to a stop are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "400b708de5d7434d8964da4a0246d164_f05ea49e1a714096bbda940934fc7c6d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800471362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800471354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800471370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800471387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800471397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800471377947.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": "521f01dfc8c9402e8309e047e2eea112_337651d6157d423d88dc35be3efb130f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299477662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299477654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299477670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299477687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299477697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299477678113.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 back of the ego vehicle, a gray SUV to the front left of the ego vehicle, and a yield to pedestrians to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1008.3,511.7>, <c2,CAM_FRONT_LEFT,1433.3,550.0>, and <c3,CAM_FRONT,829.4,815.2>."
            }
        ]
    },
    {
        "id": "521f01dfc8c9402e8309e047e2eea112_337651d6157d423d88dc35be3efb130f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299477662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299477654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299477670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299477687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299477697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299477678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,1433.3,550.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "521f01dfc8c9402e8309e047e2eea112_337651d6157d423d88dc35be3efb130f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299477662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299477654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299477670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299477687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299477697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299477678113.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 <c3,CAM_FRONT,829.4,815.2>. The object is a traffic sign, so the ego vehicle should decelerate gradually until it comes to a stop. Secondly, notice that <c2,CAM_FRONT_LEFT,1433.3,550.0>. The object is going ahead, so the ego vehicle should decelerate gradually until it comes to a stop. Thirdly, notice that <c1,CAM_BACK,1008.3,511.7>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "521f01dfc8c9402e8309e047e2eea112_337651d6157d423d88dc35be3efb130f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299477662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299477654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299477670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299477687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299477697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299477678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1008.3,511.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "521f01dfc8c9402e8309e047e2eea112_337651d6157d423d88dc35be3efb130f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299477662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299477654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299477670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299477687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299477697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299477678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1008.3,511.7>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "521f01dfc8c9402e8309e047e2eea112_337651d6157d423d88dc35be3efb130f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299477662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299477654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299477670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299477687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299477697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299477678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,1433.3,550.0>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "521f01dfc8c9402e8309e047e2eea112_337651d6157d423d88dc35be3efb130f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299477662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299477654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299477670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299477687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299477697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299477678113.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": "521f01dfc8c9402e8309e047e2eea112_337651d6157d423d88dc35be3efb130f_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299477662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299477654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299477670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299477687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299477697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299477678113.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": "210add02013a4dfa84b7c5e23058781f_1bc034c2dd694757863c51fa66e7070e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621922162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621922154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621922170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621922187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621922197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621922178113.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 dark blue sedan to the back of the ego vehicle, a black SUV to the front left of the ego vehicle, and a red car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,786.7,474.2>, <c2,CAM_BACK,843.3,518.3>, <c3,CAM_FRONT_LEFT,1190.8,611.7>, and <c4,CAM_FRONT,482.5,519.2>."
            }
        ]
    },
    {
        "id": "210add02013a4dfa84b7c5e23058781f_1bc034c2dd694757863c51fa66e7070e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621922162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621922154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621922170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621922187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621922197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621922178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,786.7,474.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "210add02013a4dfa84b7c5e23058781f_1bc034c2dd694757863c51fa66e7070e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621922162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621922154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621922170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621922187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621922197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621922178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,786.7,474.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "210add02013a4dfa84b7c5e23058781f_1bc034c2dd694757863c51fa66e7070e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621922162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621922154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621922170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621922187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621922197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621922178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,786.7,474.2>? 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": "210add02013a4dfa84b7c5e23058781f_1bc034c2dd694757863c51fa66e7070e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621922162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621922154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621922170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621922187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621922197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621922178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,786.7,474.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1, CAM_FRONT, 786.7, 474.2>."
            }
        ]
    },
    {
        "id": "210add02013a4dfa84b7c5e23058781f_1bc034c2dd694757863c51fa66e7070e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621922162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621922154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621922170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621922187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621922197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621922178113.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": "210add02013a4dfa84b7c5e23058781f_1bc034c2dd694757863c51fa66e7070e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621922162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621922154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621922170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621922187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621922197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621922178113.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": "37284f813cc74496971ff58f5d37400a_8291a6aaf2d5429ba446f8fec76f1f69_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845514412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845514404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845514420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845514437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845514447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845514427893.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 brown car to the back of the ego vehicle, a black sedan to the back right of the ego vehicle, and a signpost to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,877.5,590.8>, <c2,CAM_BACK_RIGHT,1053.3,589.2>, and <c3,CAM_FRONT,965.5,453.1>."
            }
        ]
    },
    {
        "id": "37284f813cc74496971ff58f5d37400a_8291a6aaf2d5429ba446f8fec76f1f69_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845514412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845514404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845514420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845514437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845514447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845514427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,877.5,590.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "37284f813cc74496971ff58f5d37400a_8291a6aaf2d5429ba446f8fec76f1f69_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845514412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845514404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845514420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845514437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845514447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845514427893.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 <c3,CAM_FRONT,965.5,453.1>. The object is a traffic sign, so the ego vehicle should turn left. Secondly, notice <c1,CAM_BACK,877.5,590.8>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c2,CAM_BACK_RIGHT,1053.3,589.2>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "37284f813cc74496971ff58f5d37400a_8291a6aaf2d5429ba446f8fec76f1f69_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845514412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845514404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845514420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845514437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845514447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845514427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,877.5,590.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "37284f813cc74496971ff58f5d37400a_8291a6aaf2d5429ba446f8fec76f1f69_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845514412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845514404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845514420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845514437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845514447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845514427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,877.5,590.8>? 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": "37284f813cc74496971ff58f5d37400a_8291a6aaf2d5429ba446f8fec76f1f69_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845514412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845514404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845514420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845514437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845514447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845514427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,877.5,590.8>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "37284f813cc74496971ff58f5d37400a_8291a6aaf2d5429ba446f8fec76f1f69_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845514412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845514404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845514420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845514437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845514447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845514427893.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, decelerate gradually without braking, and turn right."
            }
        ]
    },
    {
        "id": "37284f813cc74496971ff58f5d37400a_8291a6aaf2d5429ba446f8fec76f1f69_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845514412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845514404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845514420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845514437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845514447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845514427893.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": "37284f813cc74496971ff58f5d37400a_04258e0aabb24146b5a50d889c20d753_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.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 brown car to the back of the ego vehicle, a white sedan to the front right of the ego vehicle, and a blue sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,428.3,574.4>, <c2,CAM_FRONT_RIGHT,1017.5,514.2>, and <c3,CAM_BACK_RIGHT,876.7,546.7>."
            }
        ]
    },
    {
        "id": "37284f813cc74496971ff58f5d37400a_04258e0aabb24146b5a50d889c20d753_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,428.3,574.4>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "37284f813cc74496971ff58f5d37400a_04258e0aabb24146b5a50d889c20d753_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.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 <c3,CAM_BACK_RIGHT,876.7,546.7>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_BACK,428.3,574.4>. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_FRONT_RIGHT,1017.5,514.2>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "37284f813cc74496971ff58f5d37400a_04258e0aabb24146b5a50d889c20d753_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,428.3,574.4> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "37284f813cc74496971ff58f5d37400a_04258e0aabb24146b5a50d889c20d753_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,428.3,574.4>? 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": "37284f813cc74496971ff58f5d37400a_04258e0aabb24146b5a50d889c20d753_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,428.3,574.4>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "37284f813cc74496971ff58f5d37400a_04258e0aabb24146b5a50d889c20d753_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.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": "37284f813cc74496971ff58f5d37400a_04258e0aabb24146b5a50d889c20d753_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.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": "782f9486adbd4546a492e69b6697ef70_d70fc4fc30114f9cbaccafb0c9cf136f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297569862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297569854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297569870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297569887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297569897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297569878113.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 black car to the front of the ego vehicle, a pedestrian to the back right of the ego vehicle, a white sedan to the front left of the ego vehicle, and a silver sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,831.7,497.5>, <c2,CAM_FRONT,407.5,544.2>, <c3,CAM_BACK_RIGHT,196.7,555.8>, <c4,CAM_FRONT_LEFT,1329.2,565.8>, and <c5,CAM_FRONT,898.3,498.3>."
            }
        ]
    },
    {
        "id": "782f9486adbd4546a492e69b6697ef70_d70fc4fc30114f9cbaccafb0c9cf136f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297569862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297569854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297569870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297569887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297569897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297569878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,831.7,497.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "782f9486adbd4546a492e69b6697ef70_d70fc4fc30114f9cbaccafb0c9cf136f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297569862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297569854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297569870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297569887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297569897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297569878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,831.7,497.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "782f9486adbd4546a492e69b6697ef70_d70fc4fc30114f9cbaccafb0c9cf136f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297569862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297569854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297569870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297569887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297569897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297569878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,831.7,497.5>? 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": "782f9486adbd4546a492e69b6697ef70_d70fc4fc30114f9cbaccafb0c9cf136f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297569862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297569854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297569870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297569887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297569897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297569878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,831.7,497.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,831.7,497.5>."
            }
        ]
    },
    {
        "id": "782f9486adbd4546a492e69b6697ef70_d70fc4fc30114f9cbaccafb0c9cf136f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297569862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297569854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297569870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297569887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297569897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297569878113.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."
            }
        ]
    },
    {
        "id": "782f9486adbd4546a492e69b6697ef70_d70fc4fc30114f9cbaccafb0c9cf136f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297569862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297569854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297569870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297569887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297569897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297569878113.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": "30e77a3561ce4f1bb4fd90e322ea29d7_e471aaf2fed44636b543e9aebd427664_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153415412428.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153415404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153415420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153415437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153415447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153415428113.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 white hat to the front left of the ego vehicle, a traffic police to the front of the ego vehicle, a white bus to the back of the ego vehicle, a gray sedan to the front of the ego vehicle, a black truck to the back of the ego vehicle, and a black pickup truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,139.2,587.5>, <c2,CAM_FRONT,844.2,504.2>, <c3,CAM_BACK,1290.5,456.0>, <c4,CAM_FRONT,729.2,515.0>, <c5,CAM_BACK,822.5,469.2>, and <c6,CAM_FRONT_LEFT,297.0,514.2>."
            }
        ]
    },
    {
        "id": "30e77a3561ce4f1bb4fd90e322ea29d7_e471aaf2fed44636b543e9aebd427664_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153415412428.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153415404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153415420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153415437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153415447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153415428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,139.2,587.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "30e77a3561ce4f1bb4fd90e322ea29d7_e471aaf2fed44636b543e9aebd427664_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153415412428.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153415404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153415420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153415437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153415447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153415428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,139.2,587.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "30e77a3561ce4f1bb4fd90e322ea29d7_e471aaf2fed44636b543e9aebd427664_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153415412428.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153415404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153415420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153415437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153415447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153415428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,139.2,587.5>? 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": "30e77a3561ce4f1bb4fd90e322ea29d7_e471aaf2fed44636b543e9aebd427664_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153415412428.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153415404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153415420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153415437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153415447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153415428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,139.2,587.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "30e77a3561ce4f1bb4fd90e322ea29d7_e471aaf2fed44636b543e9aebd427664_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153415412428.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153415404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153415420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153415437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153415447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153415428113.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": "30e77a3561ce4f1bb4fd90e322ea29d7_e471aaf2fed44636b543e9aebd427664_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153415412428.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153415404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153415420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153415437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153415447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153415428113.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": "1d4db80d13f342aba4881b38099bc4b7_eea0d4122fe8431f879d5a8242398f4b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886125912469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886125904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886125920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886125937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886125947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886125927903.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 brown SUV to the back of the ego vehicle, a straight white arrow to the front right of the ego vehicle, and a straight ahead left turn white arrow to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1150.0,563.3>, <c2,CAM_FRONT_RIGHT,430.8,653.4>, and <c3,CAM_FRONT_RIGHT,125.2,651.4>."
            }
        ]
    },
    {
        "id": "1d4db80d13f342aba4881b38099bc4b7_eea0d4122fe8431f879d5a8242398f4b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886125912469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886125904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886125920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886125937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886125947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886125927903.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1150.0,563.3>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "1d4db80d13f342aba4881b38099bc4b7_eea0d4122fe8431f879d5a8242398f4b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886125912469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886125904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886125920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886125937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886125947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886125927903.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 <c2,CAM_FRONT_RIGHT,430.8,653.4>. The object is a traffic sign, so the ego vehicle should turn right. Secondly, notice <c3,CAM_FRONT_RIGHT,125.2,651.4>. The object is also a traffic sign, so the ego vehicle should turn right. Thirdly, notice <c1,CAM_BACK,1150.0,563.3>. The object is going ahead, so the ego vehicle should turn right."
            }
        ]
    },
    {
        "id": "1d4db80d13f342aba4881b38099bc4b7_eea0d4122fe8431f879d5a8242398f4b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886125912469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886125904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886125920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886125937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886125947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886125927903.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1150.0,563.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1d4db80d13f342aba4881b38099bc4b7_eea0d4122fe8431f879d5a8242398f4b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886125912469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886125904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886125920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886125937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886125947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886125927903.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1150.0,563.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "1d4db80d13f342aba4881b38099bc4b7_eea0d4122fe8431f879d5a8242398f4b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886125912469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886125904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886125920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886125937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886125947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886125927903.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1150.0,563.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "1d4db80d13f342aba4881b38099bc4b7_eea0d4122fe8431f879d5a8242398f4b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886125912469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886125904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886125920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886125937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886125947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886125927903.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 turn right."
            }
        ]
    },
    {
        "id": "1d4db80d13f342aba4881b38099bc4b7_eea0d4122fe8431f879d5a8242398f4b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886125912469.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886125904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886125920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886125937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886125947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886125927903.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": "83773bcf46ac486383529098de0542dd_da33819e179f41d9922b9216ee7d7646_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402736862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402736854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402736870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402736887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402736897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402736877893.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 black clothes to the back right of the ego vehicle, a black sedan car to the front right of the ego vehicle, a person wearing black clothes to the back right of the ego vehicle, a white road sign to the front of the ego vehicle, and a white road sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,1275.8,531.7>, <c2,CAM_FRONT_RIGHT,142.5,492.5>, <c3,CAM_BACK_RIGHT,1200.0,530.8>, <c4,CAM_FRONT,875.7,781.2>, and <c5,CAM_FRONT,211.6,778.7>."
            }
        ]
    },
    {
        "id": "83773bcf46ac486383529098de0542dd_da33819e179f41d9922b9216ee7d7646_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402736862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402736854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402736870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402736887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402736897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402736877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_RIGHT,1275.8,531.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "83773bcf46ac486383529098de0542dd_da33819e179f41d9922b9216ee7d7646_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402736862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402736854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402736870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402736887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402736897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402736877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_RIGHT,1275.8,531.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "83773bcf46ac486383529098de0542dd_da33819e179f41d9922b9216ee7d7646_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402736862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402736854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402736870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402736887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402736897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402736877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,1275.8,531.7>? 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": "83773bcf46ac486383529098de0542dd_da33819e179f41d9922b9216ee7d7646_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402736862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402736854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402736870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402736887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402736897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402736877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,142.5,492.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "83773bcf46ac486383529098de0542dd_da33819e179f41d9922b9216ee7d7646_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402736862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402736854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402736870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402736887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402736897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402736877893.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 suddenly, keep going at the same speed, turn right, or back up."
            }
        ]
    },
    {
        "id": "83773bcf46ac486383529098de0542dd_da33819e179f41d9922b9216ee7d7646_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402736862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402736854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402736870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402736887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402736897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402736877893.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": "05d5241d4d5a4c2a9c670dc8c9853c74_ab8d898efbe54c39bba8a73d7322c0f9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033936762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033936754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033936770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033936787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033936797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033936777893.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 right of the ego vehicle, a white van to the front right of the ego vehicle, a grey SUV to the back right of the ego vehicle, and a white bicycle to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,162.5,518.3>, <c2,CAM_FRONT_RIGHT,484.0,537.5>, <c3,CAM_BACK_RIGHT,1072.5,633.3>, and <c4,CAM_FRONT_LEFT,1132.5,679.2>."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_ab8d898efbe54c39bba8a73d7322c0f9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033936762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033936754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033936770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033936787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033936797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033936777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,162.5,518.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_ab8d898efbe54c39bba8a73d7322c0f9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033936762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033936754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033936770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033936787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033936797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033936777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,162.5,518.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_ab8d898efbe54c39bba8a73d7322c0f9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033936762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033936754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033936770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033936787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033936797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033936777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,162.5,518.3>? 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, high probability."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_ab8d898efbe54c39bba8a73d7322c0f9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033936762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033936754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033936770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033936787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033936797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033936777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,162.5,518.3>?"
            },
            {
                "from": "gpt",
                "value": "Turning right and accelerating."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_ab8d898efbe54c39bba8a73d7322c0f9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033936762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033936754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033936770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033936787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033936797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033936777893.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": "Turning right, slightly offsetting to the right, and slightly offsetting to the left are safe actions for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_ab8d898efbe54c39bba8a73d7322c0f9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033936762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033936754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033936770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033936787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033936797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033936777893.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": "05d5241d4d5a4c2a9c670dc8c9853c74_5033d963dd994e869afd08eb0f1b9ce2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033945662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033945654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033945670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033945687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033945697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033945677893.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 van to the back of the ego vehicle, and a street lamp to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,882.5,504.2>, <c2,CAM_BACK,985.0,502.5>, and <c3,CAM_BACK,987.2,337.5>."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_5033d963dd994e869afd08eb0f1b9ce2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033945662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033945654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033945670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033945687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033945697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033945677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,882.5,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_5033d963dd994e869afd08eb0f1b9ce2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033945662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033945654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033945670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033945687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033945697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033945677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,882.5,504.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_5033d963dd994e869afd08eb0f1b9ce2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033945662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033945654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033945670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033945687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033945697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033945677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,882.5,504.2>? 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": "05d5241d4d5a4c2a9c670dc8c9853c74_5033d963dd994e869afd08eb0f1b9ce2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033945662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033945654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033945670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033945687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033945697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033945677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,882.5,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_5033d963dd994e869afd08eb0f1b9ce2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033945662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033945654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033945670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033945687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033945697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033945677893.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, slightly offset to the right, change to the right lane."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_5033d963dd994e869afd08eb0f1b9ce2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033945662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033945654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033945670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033945687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033945697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033945677893.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": "05d5241d4d5a4c2a9c670dc8c9853c74_b9a98b4c80c5487c8348e13b6a7cb63c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033934277893.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 right of the ego vehicle, a unable to see clearly to the back of the ego vehicle, and a silver sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1540.8,522.5>, <c2,CAM_BACK,346.7,511.7>, and <c3,CAM_BACK,361.7,546.7>."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_b9a98b4c80c5487c8348e13b6a7cb63c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033934277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,1540.8,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_b9a98b4c80c5487c8348e13b6a7cb63c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033934277893.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 <c1,CAM_FRONT_RIGHT,1540.8,522.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_BACK,361.7,546.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,346.7,511.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_b9a98b4c80c5487c8348e13b6a7cb63c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033934277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1540.8,522.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_b9a98b4c80c5487c8348e13b6a7cb63c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033934277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1540.8,522.5>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right. The reason is to maintain a safe distance, which is high."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_b9a98b4c80c5487c8348e13b6a7cb63c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033934277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1540.8,522.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_b9a98b4c80c5487c8348e13b6a7cb63c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033934277893.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": "Change to the right lane, turn right, and decelerate gradually without braking are safe actions to take for the ego vehicle in this scenario."
            }
        ]
    },
    {
        "id": "05d5241d4d5a4c2a9c670dc8c9853c74_b9a98b4c80c5487c8348e13b6a7cb63c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033934262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033934254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033934270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033934287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033934297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033934277893.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": "fab5dcdfa43b4cce99da3ddf6718cc2a_d439b06668d843a89f394c7d274b2398_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731329612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731329604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731329620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731329637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731329647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731329628113.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 pedestrian wearing a pink top and white pants to the front of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,856.7,503.3>, <c2,CAM_FRONT,945.0,470.8>, and <c3,CAM_FRONT,410.0,523.3>."
            }
        ]
    },
    {
        "id": "fab5dcdfa43b4cce99da3ddf6718cc2a_d439b06668d843a89f394c7d274b2398_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731329612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731329604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731329620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731329637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731329647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731329628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,856.7,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fab5dcdfa43b4cce99da3ddf6718cc2a_d439b06668d843a89f394c7d274b2398_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731329612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731329604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731329620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731329637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731329647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731329628113.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 <c3,CAM_FRONT,410.0,523.3>. It is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c2,CAM_FRONT,945.0,470.8>. It is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c1,CAM_BACK,856.7,503.3>. It is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "fab5dcdfa43b4cce99da3ddf6718cc2a_d439b06668d843a89f394c7d274b2398_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731329612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731329604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731329620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731329637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731329647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731329628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,856.7,503.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fab5dcdfa43b4cce99da3ddf6718cc2a_d439b06668d843a89f394c7d274b2398_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731329612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731329604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731329620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731329637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731329647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731329628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,856.7,503.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to accelerate and go ahead. The reason is that the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "fab5dcdfa43b4cce99da3ddf6718cc2a_d439b06668d843a89f394c7d274b2398_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731329612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731329604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731329620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731329637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731329647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731329628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,856.7,503.3>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,856.7,503.3>."
            }
        ]
    },
    {
        "id": "fab5dcdfa43b4cce99da3ddf6718cc2a_d439b06668d843a89f394c7d274b2398_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731329612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731329604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731329620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731329637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731329647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731329628113.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "fab5dcdfa43b4cce99da3ddf6718cc2a_d439b06668d843a89f394c7d274b2398_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731329612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731329604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731329620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731329637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731329647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731329628113.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": "fab5dcdfa43b4cce99da3ddf6718cc2a_7e2565de14274a5badeea323b13ac55e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731333662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731333654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731333670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731333687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731333697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731333678113.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 truck to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,824.2,495.8>, <c2,CAM_FRONT,766.7,481.7>, and <c3,CAM_BACK,860.8,489.2>."
            }
        ]
    },
    {
        "id": "fab5dcdfa43b4cce99da3ddf6718cc2a_7e2565de14274a5badeea323b13ac55e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731333662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731333654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731333670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731333687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731333697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731333678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,766.7,481.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fab5dcdfa43b4cce99da3ddf6718cc2a_7e2565de14274a5badeea323b13ac55e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731333662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731333654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731333670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731333687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731333697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731333678113.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 <c1,CAM_FRONT,824.2,495.8>; it is stationary, so the ego vehicle should decelerate gradually until it comes to a stop. Secondly notice that <c2,CAM_FRONT,766.7,481.7>; the object is going ahead, so the ego vehicle should decelerate gradually until it comes to a stop. Thirdly notice that <c3,CAM_BACK,860.8,489.2>; the object is going ahead, so the ego vehicle should decelerate gradually until it comes to a stop."
            }
        ]
    },
    {
        "id": "fab5dcdfa43b4cce99da3ddf6718cc2a_7e2565de14274a5badeea323b13ac55e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731333662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731333654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731333670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731333687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731333697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731333678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,824.2,495.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fab5dcdfa43b4cce99da3ddf6718cc2a_7e2565de14274a5badeea323b13ac55e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731333662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731333654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731333670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731333687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731333697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731333678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,824.2,495.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to brake gently to a stop. The reason is that there is no safety issue, and the probability is high."
            }
        ]
    },
    {
        "id": "fab5dcdfa43b4cce99da3ddf6718cc2a_7e2565de14274a5badeea323b13ac55e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731333662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731333654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731333670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731333687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731333697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731333678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,824.2,495.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "fab5dcdfa43b4cce99da3ddf6718cc2a_7e2565de14274a5badeea323b13ac55e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731333662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731333654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731333670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731333687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731333697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731333678113.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": "fab5dcdfa43b4cce99da3ddf6718cc2a_7e2565de14274a5badeea323b13ac55e_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731333662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731333654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731333670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731333687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731333697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731333678113.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": "c7492bdc08f8450fa580b7787331f0c9_df16541aca0c47ecad8f6f75b57426f5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915793762465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915793754917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915793769956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915793787570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915793797295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915793777813.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 of the ego vehicle, a blue pickup truck to the front right of the ego vehicle, and a blue small truck to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,332.3,580.9>, <c2,CAM_FRONT_RIGHT,291.7,444.2>, and <c3,CAM_BACK_LEFT,1367.7,410.7>."
            }
        ]
    },
    {
        "id": "c7492bdc08f8450fa580b7787331f0c9_df16541aca0c47ecad8f6f75b57426f5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915793762465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915793754917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915793769956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915793787570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915793797295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915793777813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,332.3,580.9>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "c7492bdc08f8450fa580b7787331f0c9_df16541aca0c47ecad8f6f75b57426f5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915793762465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915793754917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915793769956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915793787570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915793797295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915793777813.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 <c2,CAM_FRONT_RIGHT,291.7,444.2>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c1,CAM_BACK,332.3,580.9>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK_LEFT,1367.7,410.7>. The object is turning right, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "c7492bdc08f8450fa580b7787331f0c9_df16541aca0c47ecad8f6f75b57426f5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915793762465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915793754917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915793769956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915793787570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915793797295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915793777813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,332.3,580.9> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "c7492bdc08f8450fa580b7787331f0c9_df16541aca0c47ecad8f6f75b57426f5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915793762465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915793754917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915793769956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915793787570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915793797295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915793777813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,332.3,580.9>? 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": "c7492bdc08f8450fa580b7787331f0c9_df16541aca0c47ecad8f6f75b57426f5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915793762465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915793754917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915793769956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915793787570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915793797295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915793777813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,332.3,580.9>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "c7492bdc08f8450fa580b7787331f0c9_df16541aca0c47ecad8f6f75b57426f5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915793762465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915793754917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915793769956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915793787570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915793797295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915793777813.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 turn right."
            }
        ]
    },
    {
        "id": "c7492bdc08f8450fa580b7787331f0c9_df16541aca0c47ecad8f6f75b57426f5_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915793762465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915793754917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915793769956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915793787570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915793797295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915793777813.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": "06c43bc74aff453081ce83eb126a756e_10e660c676334c38aa7bcfcecc7ead29_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385273662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385273654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385273670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385273687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385273697413.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385273678576.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 brown truck to the back left of the ego vehicle, and a black and white truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,924.2,504.2>, <c2,CAM_BACK_LEFT,1251.7,389.2>, and <c3,CAM_FRONT_LEFT,299.2,384.2>."
            }
        ]
    },
    {
        "id": "06c43bc74aff453081ce83eb126a756e_10e660c676334c38aa7bcfcecc7ead29_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385273662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385273654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385273670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385273687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385273697413.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385273678576.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,924.2,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "06c43bc74aff453081ce83eb126a756e_10e660c676334c38aa7bcfcecc7ead29_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385273662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385273654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385273670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385273687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385273697413.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385273678576.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 <c3,CAM_FRONT_LEFT,299.2,384.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_BACK_LEFT,1251.7,389.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,924.2,504.2>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "06c43bc74aff453081ce83eb126a756e_10e660c676334c38aa7bcfcecc7ead29_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385273662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385273654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385273670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385273687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385273697413.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385273678576.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,924.2,504.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "06c43bc74aff453081ce83eb126a756e_10e660c676334c38aa7bcfcecc7ead29_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385273662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385273654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385273670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385273687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385273697413.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385273678576.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,924.2,504.2>? 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": "06c43bc74aff453081ce83eb126a756e_10e660c676334c38aa7bcfcecc7ead29_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385273662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385273654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385273670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385273687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385273697413.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385273678576.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,924.2,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "06c43bc74aff453081ce83eb126a756e_10e660c676334c38aa7bcfcecc7ead29_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385273662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385273654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385273670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385273687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385273697413.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385273678576.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "06c43bc74aff453081ce83eb126a756e_10e660c676334c38aa7bcfcecc7ead29_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385273662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385273654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385273670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385273687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385273697413.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385273678576.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": "5a2aac9df32945d183fc81924ff148b6_e21a3e9416d54b8ab488395510f4512d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.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 truck to the front of the ego vehicle, a silver sedan to the back of the ego vehicle, and a pedestrian wearing a helmet to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,415.0,501.7>, <c2,CAM_BACK,741.7,561.7>, and <c3,CAM_FRONT_LEFT,578.3,568.3>."
            }
        ]
    },
    {
        "id": "5a2aac9df32945d183fc81924ff148b6_e21a3e9416d54b8ab488395510f4512d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,741.7,561.7>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "5a2aac9df32945d183fc81924ff148b6_e21a3e9416d54b8ab488395510f4512d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.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 <c3,CAM_FRONT_LEFT,578.3,568.3>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,415.0,501.7>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,741.7,561.7>. The object is turning right, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "5a2aac9df32945d183fc81924ff148b6_e21a3e9416d54b8ab488395510f4512d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,415.0,501.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5a2aac9df32945d183fc81924ff148b6_e21a3e9416d54b8ab488395510f4512d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,415.0,501.7>? 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": "5a2aac9df32945d183fc81924ff148b6_e21a3e9416d54b8ab488395510f4512d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,415.0,501.7>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "5a2aac9df32945d183fc81924ff148b6_e21a3e9416d54b8ab488395510f4512d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.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": "5a2aac9df32945d183fc81924ff148b6_e21a3e9416d54b8ab488395510f4512d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.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": "52b30ecd104a4f4eab6f8f5684a73e56_ee45b7c2598b4580920f96c5a97427be_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.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 of the ego vehicle, a white truck to the front left of the ego vehicle, and pedestrians crossing the road to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,665.8,499.2>, <c2,CAM_FRONT_LEFT,866.9,465.6>, and <c3,CAM_FRONT_RIGHT,185.0,698.3>."
            }
        ]
    },
    {
        "id": "52b30ecd104a4f4eab6f8f5684a73e56_ee45b7c2598b4580920f96c5a97427be_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,665.8,499.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "52b30ecd104a4f4eab6f8f5684a73e56_ee45b7c2598b4580920f96c5a97427be_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.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 <c2,CAM_FRONT_LEFT,866.9,465.6>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_RIGHT,185.0,698.3>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT,665.8,499.2>. The object is going ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "52b30ecd104a4f4eab6f8f5684a73e56_ee45b7c2598b4580920f96c5a97427be_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,665.8,499.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "52b30ecd104a4f4eab6f8f5684a73e56_ee45b7c2598b4580920f96c5a97427be_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,665.8,499.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "52b30ecd104a4f4eab6f8f5684a73e56_ee45b7c2598b4580920f96c5a97427be_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_FRONT_LEFT,866.9,465.6>? 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": "52b30ecd104a4f4eab6f8f5684a73e56_ee45b7c2598b4580920f96c5a97427be_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.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 suddenly, brake gently to a stop, decelerate gradually without braking, or back up."
            }
        ]
    },
    {
        "id": "52b30ecd104a4f4eab6f8f5684a73e56_ee45b7c2598b4580920f96c5a97427be_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.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": "52b30ecd104a4f4eab6f8f5684a73e56_25e4f0e1acc543efa1ee0acdb574b290_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112805762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112805754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112805770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112805787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112805797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112805777893.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 truck to the back of the ego vehicle, a white bus to the front right of the ego vehicle, a grey van to the back of the ego vehicle, and a red car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,882.5,509.2>, <c2,CAM_BACK,849.2,495.0>, <c3,CAM_FRONT_RIGHT,630.2,430.7>, <c4,CAM_BACK,943.3,504.2>, and <c5,CAM_FRONT,465.0,539.2>."
            }
        ]
    },
    {
        "id": "52b30ecd104a4f4eab6f8f5684a73e56_25e4f0e1acc543efa1ee0acdb574b290_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112805762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112805754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112805770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112805787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112805797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112805777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,882.5,509.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "52b30ecd104a4f4eab6f8f5684a73e56_25e4f0e1acc543efa1ee0acdb574b290_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112805762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112805754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112805770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112805787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112805797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112805777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,882.5,509.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "52b30ecd104a4f4eab6f8f5684a73e56_25e4f0e1acc543efa1ee0acdb574b290_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112805762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112805754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112805770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112805787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112805797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112805777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,882.5,509.2>? 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": "52b30ecd104a4f4eab6f8f5684a73e56_25e4f0e1acc543efa1ee0acdb574b290_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112805762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112805754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112805770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112805787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112805797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112805777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,882.5,509.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "52b30ecd104a4f4eab6f8f5684a73e56_25e4f0e1acc543efa1ee0acdb574b290_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112805762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112805754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112805770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112805787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112805797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112805777893.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": "52b30ecd104a4f4eab6f8f5684a73e56_25e4f0e1acc543efa1ee0acdb574b290_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112805762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112805754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112805770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112805787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112805797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112805777893.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": "d4c560022dda448dabb0b60fb62dd6ba_f35b47134f3f40b4a257de070dbb3ed1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985508662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985508654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985508670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985508687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985508697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985508677893.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 blue SUV to the back of the ego vehicle, a black sedan to the back of the ego vehicle, a black sedan to the back of the ego vehicle, a red light to the front of the ego vehicle, and a white sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,275.0,511.7>, <c2,CAM_BACK,734.2,580.0>, <c3,CAM_BACK,557.5,526.7>, <c4,CAM_BACK,681.7,544.2>, <c5,CAM_FRONT,686.0,388.5>, and <c6,CAM_FRONT,1285.4,410.1>."
            }
        ]
    },
    {
        "id": "d4c560022dda448dabb0b60fb62dd6ba_f35b47134f3f40b4a257de070dbb3ed1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985508662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985508654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985508670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985508687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985508697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985508677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,734.2,580.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d4c560022dda448dabb0b60fb62dd6ba_f35b47134f3f40b4a257de070dbb3ed1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985508662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985508654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985508670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985508687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985508697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985508677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,275.0,511.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d4c560022dda448dabb0b60fb62dd6ba_f35b47134f3f40b4a257de070dbb3ed1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985508662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985508654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985508670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985508687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985508697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985508677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,275.0,511.7>? 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": "d4c560022dda448dabb0b60fb62dd6ba_f35b47134f3f40b4a257de070dbb3ed1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985508662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985508654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985508670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985508687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985508697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985508677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,734.2,580.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "d4c560022dda448dabb0b60fb62dd6ba_f35b47134f3f40b4a257de070dbb3ed1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985508662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985508654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985508670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985508687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985508697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985508677893.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, brake suddenly."
            }
        ]
    },
    {
        "id": "d4c560022dda448dabb0b60fb62dd6ba_f35b47134f3f40b4a257de070dbb3ed1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985508662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985508654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985508670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985508687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985508697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985508677893.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": "d4c560022dda448dabb0b60fb62dd6ba_4ef0f8d5211748b5827458db4960f10e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985501262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985501254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985501270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985501287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985501297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985501277893.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 car to the back of the ego vehicle, a yellow bus to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,793.3,570.0>, <c2,CAM_FRONT,973.3,454.2>, and <c3,CAM_FRONT,778.3,481.7>."
            }
        ]
    },
    {
        "id": "d4c560022dda448dabb0b60fb62dd6ba_4ef0f8d5211748b5827458db4960f10e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985501262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985501254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985501270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985501287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985501297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985501277893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,793.3,570.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d4c560022dda448dabb0b60fb62dd6ba_4ef0f8d5211748b5827458db4960f10e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985501262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985501254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985501270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985501287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985501297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985501277893.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 <c3,CAM_FRONT,778.3,481.7>. It is stationary, so the ego vehicle should continue at the same speed. Secondly, notice <c2,CAM_FRONT,973.3,454.2>. It is stationary, so the ego vehicle should continue at the same speed. Thirdly, notice <c1,CAM_BACK,793.3,570.0>. It is going ahead, so the ego vehicle should accelerate and continue ahead."
            }
        ]
    },
    {
        "id": "d4c560022dda448dabb0b60fb62dd6ba_4ef0f8d5211748b5827458db4960f10e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985501262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985501254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985501270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985501287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985501297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985501277893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,793.3,570.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d4c560022dda448dabb0b60fb62dd6ba_4ef0f8d5211748b5827458db4960f10e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985501262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985501254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985501270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985501287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985501297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985501277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,793.3,570.0>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to accelerate and go ahead. The reason is that the object has little reference value for the ego vehicle, and the probability is high."
            }
        ]
    },
    {
        "id": "d4c560022dda448dabb0b60fb62dd6ba_4ef0f8d5211748b5827458db4960f10e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985501262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985501254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985501270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985501287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985501297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985501277893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,793.3,570.0>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "d4c560022dda448dabb0b60fb62dd6ba_4ef0f8d5211748b5827458db4960f10e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985501262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985501254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985501270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985501287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985501297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985501277893.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": "d4c560022dda448dabb0b60fb62dd6ba_4ef0f8d5211748b5827458db4960f10e_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985501262460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985501254844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985501270339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985501287525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985501297423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985501277893.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": "3014465d5958427aac89c4f15b6050dd_76a59bcdaa2d4f93ac49637eed8963ec_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297611412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297611404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297611420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297611437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297611447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297611428113.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 pickup truck to the front right of the ego vehicle, a black sedan to the front of the ego vehicle, and a black SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,135.8,579.2>, <c2,CAM_FRONT,367.5,566.7>, and <c3,CAM_FRONT_LEFT,1514.2,620.0>."
            }
        ]
    },
    {
        "id": "3014465d5958427aac89c4f15b6050dd_76a59bcdaa2d4f93ac49637eed8963ec_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297611412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297611404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297611420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297611437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297611447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297611428113.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 <c1,CAM_FRONT_RIGHT,135.8,579.2>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c3,CAM_FRONT_LEFT,1514.2,620.0>. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_FRONT,367.5,566.7>. It is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "3014465d5958427aac89c4f15b6050dd_76a59bcdaa2d4f93ac49637eed8963ec_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297611412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297611404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297611420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297611437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297611447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297611428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,135.8,579.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3014465d5958427aac89c4f15b6050dd_76a59bcdaa2d4f93ac49637eed8963ec_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297611412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297611404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297611420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297611437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297611447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297611428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,135.8,579.2>? 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 is high."
            }
        ]
    },
    {
        "id": "3014465d5958427aac89c4f15b6050dd_76a59bcdaa2d4f93ac49637eed8963ec_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297611412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297611404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297611420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297611437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297611447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297611428113.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 left."
            }
        ]
    },
    {
        "id": "3014465d5958427aac89c4f15b6050dd_76a59bcdaa2d4f93ac49637eed8963ec_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297611412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297611404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297611420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297611437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297611447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297611428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,135.8,579.2>?"
            },
            {
                "from": "gpt",
                "value": "Driving forward to the right can lead to a collision with <c1,CAM_FRONT_RIGHT,135.8,579.2>."
            }
        ]
    },
    {
        "id": "3014465d5958427aac89c4f15b6050dd_76a59bcdaa2d4f93ac49637eed8963ec_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297611412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297611404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297611420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297611437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297611447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297611428113.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": "3014465d5958427aac89c4f15b6050dd_bd6a6bcd8ad3428bb195e8713cd7eef3_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297605912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297605904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297605920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297605937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297605947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297605928113.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 sedan to the back of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,334.2,464.2>, <c2,CAM_BACK,240.8,637.5>, and <c3,CAM_FRONT,634.2,479.2>."
            }
        ]
    },
    {
        "id": "3014465d5958427aac89c4f15b6050dd_bd6a6bcd8ad3428bb195e8713cd7eef3_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297605912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297605904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297605920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297605937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297605947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297605928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,334.2,464.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "3014465d5958427aac89c4f15b6050dd_bd6a6bcd8ad3428bb195e8713cd7eef3_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297605912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297605904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297605920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297605937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297605947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297605928113.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 <c1,CAM_FRONT,334.2,464.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,634.2,479.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,240.8,637.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "3014465d5958427aac89c4f15b6050dd_bd6a6bcd8ad3428bb195e8713cd7eef3_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297605912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297605904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297605920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297605937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297605947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297605928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,334.2,464.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "3014465d5958427aac89c4f15b6050dd_bd6a6bcd8ad3428bb195e8713cd7eef3_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297605912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297605904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297605920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297605937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297605947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297605928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,334.2,464.2>? 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_bd6a6bcd8ad3428bb195e8713cd7eef3_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297605912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297605904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297605920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297605937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297605947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297605928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,334.2,464.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "3014465d5958427aac89c4f15b6050dd_bd6a6bcd8ad3428bb195e8713cd7eef3_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297605912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297605904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297605920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297605937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297605947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297605928113.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": "3014465d5958427aac89c4f15b6050dd_bd6a6bcd8ad3428bb195e8713cd7eef3_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297605912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297605904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297605920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297605937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297605947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297605928113.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": "857922568e4e4fb89c3ee3010eb93c7c_f87116861d924f6a91a018ffd7f0f86e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297475862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297475854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297475870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297475887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297475897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297475878113.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 commercial vehicle to the back of the ego vehicle, a blue sedan to the back of the ego vehicle, a people crossing the road to the front of the ego vehicle, a white sedan to the front left of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,850.8,486.7>, <c2,CAM_BACK,1228.3,579.2>, <c3,CAM_FRONT,750.0,505.0>, <c4,CAM_FRONT_LEFT,1022.5,461.7>, and <c5,CAM_FRONT,845.7,360.8>."
            }
        ]
    },
    {
        "id": "857922568e4e4fb89c3ee3010eb93c7c_f87116861d924f6a91a018ffd7f0f86e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297475862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297475854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297475870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297475887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297475897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297475878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,850.8,486.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "857922568e4e4fb89c3ee3010eb93c7c_f87116861d924f6a91a018ffd7f0f86e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297475862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297475854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297475870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297475887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297475897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297475878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,850.8,486.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "857922568e4e4fb89c3ee3010eb93c7c_f87116861d924f6a91a018ffd7f0f86e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297475862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297475854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297475870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297475887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297475897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297475878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,850.8,486.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason is to follow the traffic rules. The probability is high."
            }
        ]
    },
    {
        "id": "857922568e4e4fb89c3ee3010eb93c7c_f87116861d924f6a91a018ffd7f0f86e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297475862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297475854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297475870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297475887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297475897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297475878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,850.8,486.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "857922568e4e4fb89c3ee3010eb93c7c_f87116861d924f6a91a018ffd7f0f86e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297475862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297475854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297475870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297475887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297475897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297475878113.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 change to the right lane."
            }
        ]
    },
    {
        "id": "857922568e4e4fb89c3ee3010eb93c7c_f87116861d924f6a91a018ffd7f0f86e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297475862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297475854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297475870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297475887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297475897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297475878113.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": "1e9283d1ce98428aaa3b851487eb4f58_e3218c93800a4cfdbd1778b2091213f6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657491612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657491604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657491620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657491637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657491647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657491628113.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 small car to the back of the ego vehicle, a white pickup truck to the back of the ego vehicle, and a white truck to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,942.5,588.3>, <c2,CAM_BACK,1214.2,526.7>, and <c3,CAM_FRONT_RIGHT,193.3,437.5>."
            }
        ]
    },
    {
        "id": "1e9283d1ce98428aaa3b851487eb4f58_e3218c93800a4cfdbd1778b2091213f6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657491612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657491604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657491620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657491637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657491647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657491628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,942.5,588.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1e9283d1ce98428aaa3b851487eb4f58_e3218c93800a4cfdbd1778b2091213f6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657491612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657491604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657491620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657491637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657491647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657491628113.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 <c3,CAM_FRONT_RIGHT,193.3,437.5>. The object is stationary, so the ego vehicle should change to the left lane. Secondly, notice that <c1,CAM_BACK,942.5,588.3>. The object is going ahead, so the ego vehicle should change to the left lane. Thirdly, notice that <c2,CAM_BACK,1214.2,526.7>. The object is going ahead, so the ego vehicle should change to the left lane."
            }
        ]
    },
    {
        "id": "1e9283d1ce98428aaa3b851487eb4f58_e3218c93800a4cfdbd1778b2091213f6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657491612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657491604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657491620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657491637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657491647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657491628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,942.5,588.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1e9283d1ce98428aaa3b851487eb4f58_e3218c93800a4cfdbd1778b2091213f6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657491612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657491604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657491620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657491637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657491647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657491628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,942.5,588.3>? 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": "1e9283d1ce98428aaa3b851487eb4f58_e3218c93800a4cfdbd1778b2091213f6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657491612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657491604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657491620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657491637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657491647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657491628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,942.5,588.3>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "1e9283d1ce98428aaa3b851487eb4f58_e3218c93800a4cfdbd1778b2091213f6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657491612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657491604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657491620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657491637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657491647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657491628113.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": "Change to the left lane, slightly offset to the left."
            }
        ]
    },
    {
        "id": "1e9283d1ce98428aaa3b851487eb4f58_e3218c93800a4cfdbd1778b2091213f6_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657491612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657491604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657491620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657491637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657491647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657491628113.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 with normal speed."
            }
        ]
    },
    {
        "id": "2ffd7e2a1daf4b928464ddb2ed3dca59_d6ce7bb2eb784100b26f6df124340fe1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915639012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915639004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915639019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915639037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915639047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915639027813.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 green truck to the back of the ego vehicle, a black sedan to the back of the ego vehicle, a blue truck to the front of the ego vehicle, a white truck to the front right of the ego vehicle, and a yellow truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,182.1,351.4>, <c2,CAM_BACK,679.2,467.5>, <c3,CAM_FRONT,832.1,428.3>, <c4,CAM_FRONT_RIGHT,825.6,399.6>, and <c5,CAM_FRONT,670.0,446.7>."
            }
        ]
    },
    {
        "id": "2ffd7e2a1daf4b928464ddb2ed3dca59_d6ce7bb2eb784100b26f6df124340fe1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915639012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915639004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915639019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915639037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915639047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915639027813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,182.1,351.4> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2ffd7e2a1daf4b928464ddb2ed3dca59_d6ce7bb2eb784100b26f6df124340fe1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915639012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915639004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915639019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915639037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915639047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915639027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,182.1,351.4>? 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": "2ffd7e2a1daf4b928464ddb2ed3dca59_d6ce7bb2eb784100b26f6df124340fe1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915639012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915639004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915639019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915639037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915639047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915639027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,182.1,351.4>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "2ffd7e2a1daf4b928464ddb2ed3dca59_d6ce7bb2eb784100b26f6df124340fe1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915639012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915639004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915639019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915639037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915639047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915639027813.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, change to the left lane, brake gently to a stop, and turn left."
            }
        ]
    },
    {
        "id": "2ffd7e2a1daf4b928464ddb2ed3dca59_d6ce7bb2eb784100b26f6df124340fe1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915639012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915639004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915639019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915639037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915639047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915639027813.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": "2ffd7e2a1daf4b928464ddb2ed3dca59_7e1d33736acc4c599083bf226e917eff_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915641012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915641004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915641019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915641037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915641047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915641027813.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 truck to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a red container to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,941.7,411.7>, <c2,CAM_BACK,667.5,441.7>, and <c3,CAM_FRONT,1245.0,400.8>."
            }
        ]
    },
    {
        "id": "2ffd7e2a1daf4b928464ddb2ed3dca59_7e1d33736acc4c599083bf226e917eff_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915641012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915641004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915641019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915641037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915641047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915641027813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,667.5,441.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2ffd7e2a1daf4b928464ddb2ed3dca59_7e1d33736acc4c599083bf226e917eff_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915641012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915641004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915641019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915641037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915641047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915641027813.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 <c3,CAM_FRONT,1245.0,400.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_BACK,667.5,441.7>. The object is going ahead, so the ego vehicle should slow down and continue ahead. Thirdly, notice that <c1,CAM_FRONT,941.7,411.7>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "2ffd7e2a1daf4b928464ddb2ed3dca59_7e1d33736acc4c599083bf226e917eff_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915641012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915641004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915641019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915641037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915641047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915641027813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,941.7,411.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2ffd7e2a1daf4b928464ddb2ed3dca59_7e1d33736acc4c599083bf226e917eff_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915641012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915641004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915641019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915641037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915641047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915641027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,941.7,411.7>? 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": "2ffd7e2a1daf4b928464ddb2ed3dca59_7e1d33736acc4c599083bf226e917eff_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915641012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915641004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915641019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915641037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915641047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915641027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,941.7,411.7>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "2ffd7e2a1daf4b928464ddb2ed3dca59_7e1d33736acc4c599083bf226e917eff_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915641012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915641004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915641019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915641037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915641047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915641027813.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, change to the left lane, turn left, brake gently to stop."
            }
        ]
    },
    {
        "id": "2ffd7e2a1daf4b928464ddb2ed3dca59_7e1d33736acc4c599083bf226e917eff_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915641012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915641004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915641019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915641037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915641047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915641027813.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": "b3318661150b4d6080886dc702989910_3441154ae9644ea3b083075dbbb2d268_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292993162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292993154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292993170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292993187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292993197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292993178113.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 black sedan to the back left of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the back of the ego vehicle, and a black business car to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,869.2,439.2>, <c2,CAM_BACK_LEFT,897.5,680.0>, <c3,CAM_FRONT,750.0,686.7>, <c4,CAM_BACK,839.6,614.2>, and <c5,CAM_FRONT_LEFT,1455.4,629.8>."
            }
        ]
    },
    {
        "id": "b3318661150b4d6080886dc702989910_3441154ae9644ea3b083075dbbb2d268_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292993162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292993154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292993170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292993187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292993197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292993178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,839.6,614.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b3318661150b4d6080886dc702989910_3441154ae9644ea3b083075dbbb2d268_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292993162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292993154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292993170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292993187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292993197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292993178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,869.2,439.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b3318661150b4d6080886dc702989910_3441154ae9644ea3b083075dbbb2d268_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292993162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292993154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292993170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292993187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292993197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292993178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,869.2,439.2>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "b3318661150b4d6080886dc702989910_3441154ae9644ea3b083075dbbb2d268_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292993162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292993154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292993170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292993187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292993197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292993178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,869.2,439.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "b3318661150b4d6080886dc702989910_3441154ae9644ea3b083075dbbb2d268_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292993162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292993154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292993170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292993187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292993197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292993178113.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": "b3318661150b4d6080886dc702989910_3441154ae9644ea3b083075dbbb2d268_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292993162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292993154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292993170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292993187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292993197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292993178113.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": "2175d0e84f224ea69907e5c338bde395_fe155b46ed33446fbb75e26d946fe6f7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798801162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798801154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798801170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798801187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798801197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798801179881.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 black sedan to the front right of the ego vehicle, a silver gray sedan to the front of the ego vehicle, a black sedan car to the back of the ego vehicle, a person riding a motorcycle to the back of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,685.0,678.3>, <c2,CAM_FRONT_RIGHT,171.1,558.3>, <c3,CAM_FRONT,1181.6,630.8>, <c4,CAM_BACK,865.0,531.7>, <c5,CAM_BACK,685.8,607.5>, and <c6,CAM_FRONT,409.4,218.0>."
            }
        ]
    },
    {
        "id": "2175d0e84f224ea69907e5c338bde395_fe155b46ed33446fbb75e26d946fe6f7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798801162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798801154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798801170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798801187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798801197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798801179881.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK_LEFT,685.0,678.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2175d0e84f224ea69907e5c338bde395_fe155b46ed33446fbb75e26d946fe6f7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798801162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798801154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798801170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798801187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798801197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798801179881.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK_LEFT,685.0,678.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2175d0e84f224ea69907e5c338bde395_fe155b46ed33446fbb75e26d946fe6f7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798801162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798801154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798801170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798801187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798801197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798801179881.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,685.0,678.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn right because the object has little reference value for the ego vehicle, with a high probability."
            }
        ]
    },
    {
        "id": "2175d0e84f224ea69907e5c338bde395_fe155b46ed33446fbb75e26d946fe6f7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798801162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798801154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798801170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798801187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798801197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798801179881.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,685.0,678.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "2175d0e84f224ea69907e5c338bde395_fe155b46ed33446fbb75e26d946fe6f7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798801162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798801154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798801170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798801187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798801197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798801179881.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": "2175d0e84f224ea69907e5c338bde395_fe155b46ed33446fbb75e26d946fe6f7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798801162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798801154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798801170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798801187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798801197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798801179881.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": "634a8c5835e44aec912604a9a1972a5d_98f13ae813474f299752e16001b6e3e6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915669262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915669254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915669269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915669287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915669297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915669277813.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-grey sedan to the back of the ego vehicle, a blue and white bus to the front right of the ego vehicle, a white commercial vehicle to the back left of the ego vehicle, and a silver gray commercial vehicle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,703.2,446.7>, <c2,CAM_FRONT_RIGHT,605.6,438.2>, <c3,CAM_BACK_LEFT,1068.1,561.9>, and <c4,CAM_FRONT,177.2,484.4>."
            }
        ]
    },
    {
        "id": "634a8c5835e44aec912604a9a1972a5d_98f13ae813474f299752e16001b6e3e6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915669262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915669254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915669269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915669287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915669297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915669277813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,703.2,446.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "634a8c5835e44aec912604a9a1972a5d_98f13ae813474f299752e16001b6e3e6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915669262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915669254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915669269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915669287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915669297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915669277813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,703.2,446.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "634a8c5835e44aec912604a9a1972a5d_98f13ae813474f299752e16001b6e3e6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915669262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915669254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915669269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915669287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915669297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915669277813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,703.2,446.7>? 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": "634a8c5835e44aec912604a9a1972a5d_98f13ae813474f299752e16001b6e3e6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915669262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915669254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915669269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915669287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915669297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915669277813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,703.2,446.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "634a8c5835e44aec912604a9a1972a5d_98f13ae813474f299752e16001b6e3e6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915669262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915669254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915669269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915669287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915669297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915669277813.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, slightly offset to the left, and continue at the same speed."
            }
        ]
    },
    {
        "id": "634a8c5835e44aec912604a9a1972a5d_98f13ae813474f299752e16001b6e3e6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915669262465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915669254917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915669269956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915669287570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915669297295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915669277813.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 with normal speed."
            }
        ]
    },
    {
        "id": "634a8c5835e44aec912604a9a1972a5d_a8c2e7958d9f4e6da6b038b9f0be957a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915658012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915658004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915658019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915658037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915658047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915658027813.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 gray sedan to the front of the ego vehicle, a white construction vehicle to the front left of the ego vehicle, a black SUV to the front right of the ego vehicle, and a white pickup truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,610.8,427.5>, <c2,CAM_FRONT,1478.7,594.2>, <c3,CAM_FRONT_LEFT,1367.7,450.1>, <c4,CAM_FRONT_RIGHT,930.8,538.9>, and <c5,CAM_BACK,916.7,412.5>."
            }
        ]
    },
    {
        "id": "634a8c5835e44aec912604a9a1972a5d_a8c2e7958d9f4e6da6b038b9f0be957a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915658012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915658004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915658019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915658037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915658047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915658027813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,610.8,427.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "634a8c5835e44aec912604a9a1972a5d_a8c2e7958d9f4e6da6b038b9f0be957a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915658012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915658004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915658019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915658037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915658047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915658027813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,610.8,427.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "634a8c5835e44aec912604a9a1972a5d_a8c2e7958d9f4e6da6b038b9f0be957a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915658012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915658004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915658019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915658037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915658047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915658027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,610.8,427.5>? 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": "634a8c5835e44aec912604a9a1972a5d_a8c2e7958d9f4e6da6b038b9f0be957a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915658012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915658004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915658019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915658037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915658047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915658027813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,610.8,427.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "634a8c5835e44aec912604a9a1972a5d_a8c2e7958d9f4e6da6b038b9f0be957a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915658012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915658004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915658019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915658037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915658047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915658027813.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."
            }
        ]
    },
    {
        "id": "634a8c5835e44aec912604a9a1972a5d_a8c2e7958d9f4e6da6b038b9f0be957a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915658012465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915658004917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915658019956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915658037570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915658047295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915658027813.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": "a1e7cd557b9541dbb00822ea0c56204b_c26c92cc645f424c90d6a2dad5f61b22_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800431512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800431504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800431520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800431537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800431547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800431527893.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 of the ego vehicle, a black sedan to the back of the ego vehicle, a white bread to the front of the ego vehicle, a blue sedan to the front right of the ego vehicle, a black sedan to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1423.3,587.5>, <c2,CAM_BACK,807.5,550.0>, <c3,CAM_FRONT,480.0,550.0>, <c4,CAM_FRONT_RIGHT,842.5,704.5>, <c5,CAM_FRONT,951.7,576.7>, and <c6,CAM_FRONT,807.5,509.2>."
            }
        ]
    },
    {
        "id": "a1e7cd557b9541dbb00822ea0c56204b_c26c92cc645f424c90d6a2dad5f61b22_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800431512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800431504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800431520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800431537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800431547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800431527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1423.3,587.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "a1e7cd557b9541dbb00822ea0c56204b_c26c92cc645f424c90d6a2dad5f61b22_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800431512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800431504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800431520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800431537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800431547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800431527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1423.3,587.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a1e7cd557b9541dbb00822ea0c56204b_c26c92cc645f424c90d6a2dad5f61b22_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800431512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800431504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800431520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800431537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800431547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800431527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1423.3,587.5>? 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": "a1e7cd557b9541dbb00822ea0c56204b_c26c92cc645f424c90d6a2dad5f61b22_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800431512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800431504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800431520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800431537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800431547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800431527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1423.3,587.5>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "a1e7cd557b9541dbb00822ea0c56204b_c26c92cc645f424c90d6a2dad5f61b22_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800431512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800431504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800431520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800431537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800431547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800431527893.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 same speed."
            }
        ]
    },
    {
        "id": "a1e7cd557b9541dbb00822ea0c56204b_c26c92cc645f424c90d6a2dad5f61b22_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800431512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800431504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800431520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800431537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800431547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800431527893.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": "9a1188aba4bf458c8220818a6c0be55a_9c46c3692402474e84e5c084b7e0b8ba_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402819612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402819604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402819620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402819637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402819647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402819627893.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 truck to the front left of the ego vehicle, and pedestrians on the green belt to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,95.9,512.3>, <c2,CAM_FRONT_LEFT,537.0,591.3>, and <c3,CAM_FRONT,999.2,499.2>."
            }
        ]
    },
    {
        "id": "9a1188aba4bf458c8220818a6c0be55a_9c46c3692402474e84e5c084b7e0b8ba_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402819612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402819604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402819620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402819637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402819647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402819627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,95.9,512.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "9a1188aba4bf458c8220818a6c0be55a_9c46c3692402474e84e5c084b7e0b8ba_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402819612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402819604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402819620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402819637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402819647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402819627893.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 <c1,CAM_FRONT,95.9,512.3>, the object is going ahead, so the ego vehicle should slow down and go ahead. Secondly notice that <c2,CAM_FRONT_LEFT,537.0,591.3>, the object is going ahead, so the ego vehicle should slow down and go ahead. Thirdly notice that <c3,CAM_FRONT,999.2,499.2>, the object is going ahead, so the ego vehicle should slow down and go ahead."
            }
        ]
    },
    {
        "id": "9a1188aba4bf458c8220818a6c0be55a_9c46c3692402474e84e5c084b7e0b8ba_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402819612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402819604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402819620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402819637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402819647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402819627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,95.9,512.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "9a1188aba4bf458c8220818a6c0be55a_9c46c3692402474e84e5c084b7e0b8ba_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402819612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402819604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402819620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402819637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402819647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402819627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,95.9,512.3>? 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, high."
            }
        ]
    },
    {
        "id": "9a1188aba4bf458c8220818a6c0be55a_9c46c3692402474e84e5c084b7e0b8ba_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402819612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402819604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402819620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402819637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402819647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402819627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,95.9,512.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "9a1188aba4bf458c8220818a6c0be55a_9c46c3692402474e84e5c084b7e0b8ba_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402819612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402819604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402819620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402819637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402819647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402819627893.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 brake gently to a stop."
            }
        ]
    },
    {
        "id": "9a1188aba4bf458c8220818a6c0be55a_9c46c3692402474e84e5c084b7e0b8ba_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402819612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402819604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402819620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402819637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402819647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402819627893.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": "8fbbe701baf641359129ea166e1674ec_bd21291a755942e790fc16b450b87a04_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915372412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915372404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915372419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915372437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915372447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915372427813.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 left of the ego vehicle, a silver sedan to the back of the ego vehicle, a white truck to the back right of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,999.2,522.5>, <c2,CAM_BACK,674.2,443.3>, <c3,CAM_BACK_RIGHT,631.4,468.0>, and <c4,CAM_FRONT,1070.0,420.0>."
            }
        ]
    },
    {
        "id": "8fbbe701baf641359129ea166e1674ec_bd21291a755942e790fc16b450b87a04_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915372412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915372404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915372419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915372437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915372447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915372427813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,674.2,443.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8fbbe701baf641359129ea166e1674ec_bd21291a755942e790fc16b450b87a04_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915372412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915372404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915372419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915372437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915372447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915372427813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,999.2,522.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8fbbe701baf641359129ea166e1674ec_bd21291a755942e790fc16b450b87a04_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915372412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915372404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915372419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915372437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915372447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915372427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,999.2,522.5>? 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 is highly probable."
            }
        ]
    },
    {
        "id": "8fbbe701baf641359129ea166e1674ec_bd21291a755942e790fc16b450b87a04_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915372412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915372404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915372419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915372437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915372447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915372427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,999.2,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "8fbbe701baf641359129ea166e1674ec_bd21291a755942e790fc16b450b87a04_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915372412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915372404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915372419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915372437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915372447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915372427813.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": "8fbbe701baf641359129ea166e1674ec_bd21291a755942e790fc16b450b87a04_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915372412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915372404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915372419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915372437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915372447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915372427813.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": "8fbbe701baf641359129ea166e1674ec_0645f4fd924941059338152653eb6489_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915364412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915364404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915364419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915364437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915364447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915364427813.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 light blue clothes to the front left of the ego vehicle, a black sedan to the back of the ego vehicle, a pedestrian wearing a yellow hat to the front of the ego vehicle, a white truck to the front right of the ego vehicle, and a white pickup truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1157.5,407.5>, <c2,CAM_BACK,653.3,436.7>, <c3,CAM_FRONT,1103.3,487.5>, <c4,CAM_FRONT_RIGHT,897.3,369.0>, and <c5,CAM_FRONT_LEFT,250.6,466.6>."
            }
        ]
    },
    {
        "id": "8fbbe701baf641359129ea166e1674ec_0645f4fd924941059338152653eb6489_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915364412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915364404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915364419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915364437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915364447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915364427813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,653.3,436.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8fbbe701baf641359129ea166e1674ec_0645f4fd924941059338152653eb6489_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915364412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915364404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915364419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915364437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915364447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915364427813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1157.5,407.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8fbbe701baf641359129ea166e1674ec_0645f4fd924941059338152653eb6489_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915364412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915364404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915364419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915364437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915364447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915364427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1157.5,407.5>? 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": "8fbbe701baf641359129ea166e1674ec_0645f4fd924941059338152653eb6489_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915364412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915364404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915364419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915364437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915364447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915364427813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1157.5,407.5>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "8fbbe701baf641359129ea166e1674ec_0645f4fd924941059338152653eb6489_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915364412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915364404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915364419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915364437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915364447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915364427813.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."
            }
        ]
    },
    {
        "id": "8fbbe701baf641359129ea166e1674ec_0645f4fd924941059338152653eb6489_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915364412465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915364404917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915364419956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915364437570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915364447295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915364427813.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": "2eb0dd074d8e4a328fd2283184c4412e_2cc36287c01640c48a7d14410486be05_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292617862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292617854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292617870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292617887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292617897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292617878113.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 front of the ego vehicle, a black sedan to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a red and white traffic sign to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1091.7,510.0>, <c2,CAM_FRONT,643.3,530.8>, <c3,CAM_FRONT,387.5,545.8>, and <c4,CAM_BACK,209.3,461.6>."
            }
        ]
    },
    {
        "id": "2eb0dd074d8e4a328fd2283184c4412e_2cc36287c01640c48a7d14410486be05_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292617862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292617854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292617870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292617887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292617897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292617878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1091.7,510.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2eb0dd074d8e4a328fd2283184c4412e_2cc36287c01640c48a7d14410486be05_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292617862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292617854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292617870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292617887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292617897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292617878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1091.7,510.0>? 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, and the probability is high."
            }
        ]
    },
    {
        "id": "2eb0dd074d8e4a328fd2283184c4412e_2cc36287c01640c48a7d14410486be05_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292617862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292617854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292617870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292617887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292617897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292617878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1091.7,510.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "2eb0dd074d8e4a328fd2283184c4412e_2cc36287c01640c48a7d14410486be05_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292617862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292617854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292617870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292617887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292617897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292617878113.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_2cc36287c01640c48a7d14410486be05_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292617862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292617854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292617870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292617887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292617897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292617878113.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 slowly."
            }
        ]
    },
    {
        "id": "93481c2504474ca0b21d4abbab2cf3cf_c88a592b5a8146d6b5d772a1d7f60260_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286934162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286934154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286934170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286934187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286934197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286934178113.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 motorhome to the back of the ego vehicle, a gray sedan to the front of the ego vehicle, and a gray sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1025.8,478.3>, <c2,CAM_FRONT,1063.3,516.7>, and <c3,CAM_FRONT,195.8,515.0>."
            }
        ]
    },
    {
        "id": "93481c2504474ca0b21d4abbab2cf3cf_c88a592b5a8146d6b5d772a1d7f60260_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286934162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286934154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286934170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286934187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286934197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286934178113.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 <c2,CAM_FRONT,1063.3,516.7>, it is stationary, so the ego vehicle should continue at the same speed. Secondly notice <c3,CAM_FRONT,195.8,515.0>, it is stationary, so the ego vehicle should continue at the same speed. Thirdly notice <c1,CAM_BACK,1025.8,478.3>, it is stationary, so the ego vehicle should continue at the same speed."
            }
        ]
    },
    {
        "id": "93481c2504474ca0b21d4abbab2cf3cf_c88a592b5a8146d6b5d772a1d7f60260_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286934162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286934154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286934170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286934187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286934197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286934178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1025.8,478.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "93481c2504474ca0b21d4abbab2cf3cf_c88a592b5a8146d6b5d772a1d7f60260_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286934162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286934154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286934170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286934187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286934197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286934178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1025.8,478.3>? 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": "93481c2504474ca0b21d4abbab2cf3cf_c88a592b5a8146d6b5d772a1d7f60260_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286934162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286934154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286934170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286934187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286934197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286934178113.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."
            }
        ]
    },
    {
        "id": "93481c2504474ca0b21d4abbab2cf3cf_c88a592b5a8146d6b5d772a1d7f60260_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286934162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286934154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286934170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286934187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286934197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286934178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1025.8,478.3>?"
            },
            {
                "from": "gpt",
                "value": "Reversing to the left rear can lead to a collision with <c1,CAM_BACK,1025.8,478.3>."
            }
        ]
    },
    {
        "id": "93481c2504474ca0b21d4abbab2cf3cf_c88a592b5a8146d6b5d772a1d7f60260_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537286934162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537286934154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537286934170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537286934187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537286934197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537286934178113.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": "4b48dfc43a3f411b88a71031d77e5696_77fee951bf7f43cb957a96faffcd12af_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662215412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662215404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662215420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662215437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662215447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662215427893.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 of the ego vehicle, a black bus to the back right of the ego vehicle, and a green bus to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1312.5,543.3>, <c2,CAM_BACK_RIGHT,852.5,424.2>, and <c3,CAM_FRONT,779.2,455.0>."
            }
        ]
    },
    {
        "id": "4b48dfc43a3f411b88a71031d77e5696_77fee951bf7f43cb957a96faffcd12af_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662215412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662215404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662215420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662215437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662215447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662215427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1312.5,543.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4b48dfc43a3f411b88a71031d77e5696_77fee951bf7f43cb957a96faffcd12af_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662215412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662215404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662215420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662215437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662215447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662215427893.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 <c1,CAM_FRONT,1312.5,543.3>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c3,CAM_FRONT,779.2,455.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c2,CAM_BACK_RIGHT,852.5,424.2>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "4b48dfc43a3f411b88a71031d77e5696_77fee951bf7f43cb957a96faffcd12af_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662215412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662215404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662215420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662215437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662215447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662215427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1312.5,543.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4b48dfc43a3f411b88a71031d77e5696_77fee951bf7f43cb957a96faffcd12af_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662215412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662215404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662215420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662215437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662215447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662215427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1312.5,543.3>? 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 probability."
            }
        ]
    },
    {
        "id": "4b48dfc43a3f411b88a71031d77e5696_77fee951bf7f43cb957a96faffcd12af_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662215412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662215404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662215420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662215437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662215447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662215427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1312.5,543.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "4b48dfc43a3f411b88a71031d77e5696_77fee951bf7f43cb957a96faffcd12af_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662215412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662215404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662215420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662215437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662215447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662215427893.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 left."
            }
        ]
    },
    {
        "id": "4b48dfc43a3f411b88a71031d77e5696_77fee951bf7f43cb957a96faffcd12af_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662215412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662215404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662215420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662215437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662215447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662215427893.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": "4b48dfc43a3f411b88a71031d77e5696_fb575e63b16246388c579c283bd30247_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662224362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662224354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662224370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662224387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662224397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662224377893.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 top to the front right of the ego vehicle, a white sedan to the back of the ego vehicle, a green bus to the back of the ego vehicle, and a red motorcycle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,324.2,526.7>, <c2,CAM_BACK,903.5,545.8>, <c3,CAM_BACK,1304.5,425.1>, and <c4,CAM_FRONT,68.3,486.7>."
            }
        ]
    },
    {
        "id": "4b48dfc43a3f411b88a71031d77e5696_fb575e63b16246388c579c283bd30247_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662224362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662224354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662224370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662224387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662224397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662224377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,324.2,526.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4b48dfc43a3f411b88a71031d77e5696_fb575e63b16246388c579c283bd30247_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662224362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662224354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662224370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662224387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662224397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662224377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,324.2,526.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4b48dfc43a3f411b88a71031d77e5696_fb575e63b16246388c579c283bd30247_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662224362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662224354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662224370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662224387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662224397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662224377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,324.2,526.7>? 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_fb575e63b16246388c579c283bd30247_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662224362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662224354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662224370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662224387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662224397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662224377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,324.2,526.7>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "4b48dfc43a3f411b88a71031d77e5696_fb575e63b16246388c579c283bd30247_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662224362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662224354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662224370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662224387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662224397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662224377893.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 right, turn right, or turn left."
            }
        ]
    },
    {
        "id": "4b48dfc43a3f411b88a71031d77e5696_fb575e63b16246388c579c283bd30247_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662224362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662224354844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662224370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662224387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662224397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662224377893.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": "b528f78de55e41d9bb3382176dae1a4c_e376f6f3cb1a4a6698d9e3dcc229a40c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487857912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487857904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487857920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487857937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487857947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487857928113.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 back of the ego vehicle, a black SUV to the front of the ego vehicle, a person wearing black clothes to the front of the ego vehicle, a white SUV to the back of the ego vehicle, a black SUV to the front left of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1404.2,530.8>, <c2,CAM_FRONT,138.3,644.2>, <c3,CAM_FRONT,1153.3,545.0>, <c4,CAM_BACK,945.8,632.5>, <c5,CAM_FRONT_LEFT,601.0,667.2>, and <c6,CAM_FRONT,842.9,375.3>."
            }
        ]
    },
    {
        "id": "b528f78de55e41d9bb3382176dae1a4c_e376f6f3cb1a4a6698d9e3dcc229a40c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487857912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487857904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487857920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487857937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487857947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487857928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,1153.3,545.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b528f78de55e41d9bb3382176dae1a4c_e376f6f3cb1a4a6698d9e3dcc229a40c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487857912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487857904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487857920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487857937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487857947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487857928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1404.2,530.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b528f78de55e41d9bb3382176dae1a4c_e376f6f3cb1a4a6698d9e3dcc229a40c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487857912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487857904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487857920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487857937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487857947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487857928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1404.2,530.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary because it follows the traffic rules. The probability of taking this action is high."
            }
        ]
    },
    {
        "id": "b528f78de55e41d9bb3382176dae1a4c_e376f6f3cb1a4a6698d9e3dcc229a40c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487857912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487857904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487857920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487857937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487857947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487857928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,138.3,644.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "b528f78de55e41d9bb3382176dae1a4c_e376f6f3cb1a4a6698d9e3dcc229a40c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487857912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487857904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487857920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487857937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487857947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487857928113.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, brake gently to stop."
            }
        ]
    },
    {
        "id": "b528f78de55e41d9bb3382176dae1a4c_e376f6f3cb1a4a6698d9e3dcc229a40c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487857912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487857904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487857920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487857937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487857947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487857928113.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": "83ffc453d209404781ea4574d77adb22_1dd962af86834ba08769865f88a3e92a_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033773862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033773854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033773870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033773887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033773897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033773877893.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 pedestrian wearing an orange shirt to the front of the ego vehicle, and a trash can to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,835.8,507.5>, <c2,CAM_FRONT,685.8,512.5>, and <c3,CAM_FRONT,317.3,602.2>."
            }
        ]
    },
    {
        "id": "83ffc453d209404781ea4574d77adb22_1dd962af86834ba08769865f88a3e92a_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033773862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033773854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033773870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033773887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033773897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033773877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,835.8,507.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "83ffc453d209404781ea4574d77adb22_1dd962af86834ba08769865f88a3e92a_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033773862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033773854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033773870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033773887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033773897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033773877893.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 <c3,CAM_FRONT,317.3,602.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,685.8,512.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT,835.8,507.5>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "83ffc453d209404781ea4574d77adb22_1dd962af86834ba08769865f88a3e92a_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033773862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033773854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033773870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033773887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033773897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033773877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,835.8,507.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "83ffc453d209404781ea4574d77adb22_1dd962af86834ba08769865f88a3e92a_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033773862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033773854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033773870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033773887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033773897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033773877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,835.8,507.5>? 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": "83ffc453d209404781ea4574d77adb22_1dd962af86834ba08769865f88a3e92a_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033773862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033773854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033773870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033773887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033773897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033773877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,835.8,507.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "83ffc453d209404781ea4574d77adb22_1dd962af86834ba08769865f88a3e92a_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033773862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033773854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033773870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033773887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033773897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033773877893.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, keep going at the same speed, slightly offset to the left, or slightly offset to the right."
            }
        ]
    },
    {
        "id": "83ffc453d209404781ea4574d77adb22_1dd962af86834ba08769865f88a3e92a_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033773862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033773854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033773870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033773887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033773897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033773877893.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": "5e270cfc71714e2bb94bad445c6159a4_7d584c65ca1c47ac86c64255e23f4e48_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582897612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582897604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582897620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582897637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582897647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582897628113.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 wearing a green shirt and black pants to the back right of the ego vehicle, a red car to the front of the ego vehicle, a black car to the back of the ego vehicle, a white exotic car to the front of the ego vehicle, and a black sedan car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1037.2,566.0>, <c2,CAM_BACK_RIGHT,986.7,611.7>, <c3,CAM_FRONT,1396.7,608.3>, <c4,CAM_BACK,745.8,555.8>, <c5,CAM_FRONT,874.5,435.6>, and <c6,CAM_FRONT,400.4,581.7>."
            }
        ]
    },
    {
        "id": "5e270cfc71714e2bb94bad445c6159a4_7d584c65ca1c47ac86c64255e23f4e48_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582897612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582897604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582897620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582897637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582897647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582897628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1037.2,566.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5e270cfc71714e2bb94bad445c6159a4_7d584c65ca1c47ac86c64255e23f4e48_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582897612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582897604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582897620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582897637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582897647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582897628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1037.2,566.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5e270cfc71714e2bb94bad445c6159a4_7d584c65ca1c47ac86c64255e23f4e48_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582897612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582897604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582897620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582897637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582897647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582897628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1037.2,566.0>? 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": "5e270cfc71714e2bb94bad445c6159a4_7d584c65ca1c47ac86c64255e23f4e48_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582897612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582897604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582897620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582897637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582897647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582897628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1037.2,566.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "5e270cfc71714e2bb94bad445c6159a4_7d584c65ca1c47ac86c64255e23f4e48_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582897612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582897604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582897620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582897637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582897647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582897628113.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, and keep going at the same speed."
            }
        ]
    },
    {
        "id": "5e270cfc71714e2bb94bad445c6159a4_7d584c65ca1c47ac86c64255e23f4e48_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582897612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582897604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582897620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582897637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582897647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582897628113.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": "5e270cfc71714e2bb94bad445c6159a4_7bf7ee35de3644eca55a1e711c92f837_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582894612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582894604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582894620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582894637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582894647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582894628113.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 woman in a blue shirt to the front right of the ego vehicle, a gray SUV to the front of the ego vehicle, a red SUV to the front right of the ego vehicle, a black sedan to the back of the ego vehicle, and a white bus to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1058.3,499.2>, <c2,CAM_FRONT_RIGHT,551.7,525.0>, <c3,CAM_FRONT,377.5,625.8>, <c4,CAM_FRONT_RIGHT,158.3,527.5>, <c5,CAM_BACK,479.2,590.0>, and <c6,CAM_FRONT,1334.8,417.9>."
            }
        ]
    },
    {
        "id": "5e270cfc71714e2bb94bad445c6159a4_7bf7ee35de3644eca55a1e711c92f837_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582894612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582894604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582894620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582894637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582894647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582894628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,551.7,525.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "5e270cfc71714e2bb94bad445c6159a4_7bf7ee35de3644eca55a1e711c92f837_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582894612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582894604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582894620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582894637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582894647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582894628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1058.3,499.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "5e270cfc71714e2bb94bad445c6159a4_7bf7ee35de3644eca55a1e711c92f837_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582894612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582894604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582894620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582894637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582894647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582894628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1058.3,499.2>? 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, which is high probability."
            }
        ]
    },
    {
        "id": "5e270cfc71714e2bb94bad445c6159a4_7bf7ee35de3644eca55a1e711c92f837_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582894612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582894604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582894620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582894637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582894647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582894628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1058.3,499.2>?"
            },
            {
                "from": "gpt",
                "value": "Accelerate and go straight."
            }
        ]
    },
    {
        "id": "5e270cfc71714e2bb94bad445c6159a4_7bf7ee35de3644eca55a1e711c92f837_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582894612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582894604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582894620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582894637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582894647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582894628113.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 and continue at the same speed."
            }
        ]
    },
    {
        "id": "5e270cfc71714e2bb94bad445c6159a4_7bf7ee35de3644eca55a1e711c92f837_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582894612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582894604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582894620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582894637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582894647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582894628113.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": "93032908bafd484ea10a39b0d5d3fff6_69dcd7a550ff480c90d7631fb5a8b39c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662963862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662963854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662963870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662963887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662963897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662963877893.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 of the ego vehicle, a white straight arrow to the front of the ego vehicle, and a white straight arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,906.7,518.4>, <c2,CAM_FRONT,787.8,678.4>, and <c3,CAM_FRONT,1023.5,670.7>."
            }
        ]
    },
    {
        "id": "93032908bafd484ea10a39b0d5d3fff6_69dcd7a550ff480c90d7631fb5a8b39c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662963862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662963854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662963870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662963887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662963897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662963877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,906.7,518.4>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "93032908bafd484ea10a39b0d5d3fff6_69dcd7a550ff480c90d7631fb5a8b39c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662963862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662963854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662963870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662963887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662963897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662963877893.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 <c2,CAM_FRONT,787.8,678.4>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,1023.5,670.7>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,906.7,518.4>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "93032908bafd484ea10a39b0d5d3fff6_69dcd7a550ff480c90d7631fb5a8b39c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662963862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662963854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662963870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662963887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662963897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662963877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,906.7,518.4> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "93032908bafd484ea10a39b0d5d3fff6_69dcd7a550ff480c90d7631fb5a8b39c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662963862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662963854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662963870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662963887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662963897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662963877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,906.7,518.4>? 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": "93032908bafd484ea10a39b0d5d3fff6_69dcd7a550ff480c90d7631fb5a8b39c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662963862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662963854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662963870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662963887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662963897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662963877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,906.7,518.4>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "93032908bafd484ea10a39b0d5d3fff6_69dcd7a550ff480c90d7631fb5a8b39c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662963862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662963854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662963870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662963887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662963897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662963877893.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": "93032908bafd484ea10a39b0d5d3fff6_69dcd7a550ff480c90d7631fb5a8b39c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662963862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662963854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662963870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662963887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662963897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662963877893.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": "93032908bafd484ea10a39b0d5d3fff6_fb29bbc822ff40b6b79681c4e9690ea0_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662960412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662960404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662960420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662960437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662960447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662960427893.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 bicycle 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 <c1,CAM_BACK,875.0,497.5>, <c2,CAM_FRONT_LEFT,1178.3,520.8>, and <c3,CAM_FRONT,685.0,548.3>."
            }
        ]
    },
    {
        "id": "93032908bafd484ea10a39b0d5d3fff6_fb29bbc822ff40b6b79681c4e9690ea0_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662960412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662960404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662960420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662960437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662960447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662960427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,875.0,497.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "93032908bafd484ea10a39b0d5d3fff6_fb29bbc822ff40b6b79681c4e9690ea0_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662960412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662960404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662960420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662960437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662960447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662960427893.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 <c3,CAM_FRONT,685.0,548.3>. The object is a traffic sign, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c2,CAM_FRONT_LEFT,1178.3,520.8>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c1,CAM_BACK,875.0,497.5>. The object is moving ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "93032908bafd484ea10a39b0d5d3fff6_fb29bbc822ff40b6b79681c4e9690ea0_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662960412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662960404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662960420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662960437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662960447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662960427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,875.0,497.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "93032908bafd484ea10a39b0d5d3fff6_fb29bbc822ff40b6b79681c4e9690ea0_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662960412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662960404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662960420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662960437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662960447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662960427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,875.0,497.5>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "93032908bafd484ea10a39b0d5d3fff6_fb29bbc822ff40b6b79681c4e9690ea0_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662960412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662960404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662960420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662960437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662960447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662960427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,875.0,497.5>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "93032908bafd484ea10a39b0d5d3fff6_fb29bbc822ff40b6b79681c4e9690ea0_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662960412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662960404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662960420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662960437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662960447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662960427893.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 ahead."
            }
        ]
    },
    {
        "id": "93032908bafd484ea10a39b0d5d3fff6_fb29bbc822ff40b6b79681c4e9690ea0_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662960412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662960404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662960420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662960437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662960447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662960427893.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": "8931a57994764c9b945a7a1b352c9ae5_f69c614d9726480e9f2063d1fa65ddbe_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915691362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915691354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915691369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915691387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915691397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915691377813.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 black car to the back of the ego vehicle, and a zebra crossing to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,689.2,674.2>, <c2,CAM_BACK,670.0,438.3>, and <c3,CAM_FRONT,936.4,676.8>."
            }
        ]
    },
    {
        "id": "8931a57994764c9b945a7a1b352c9ae5_f69c614d9726480e9f2063d1fa65ddbe_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915691362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915691354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915691369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915691387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915691397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915691377813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,670.0,438.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8931a57994764c9b945a7a1b352c9ae5_f69c614d9726480e9f2063d1fa65ddbe_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915691362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915691354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915691369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915691387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915691397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915691377813.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 <c3,CAM_FRONT,936.4,676.8>. The object is a zebra crossing, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_LEFT,689.2,674.2>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,670.0,438.3>. The object is stationary, so the ego vehicle should continue ahead at the same speed."
            }
        ]
    },
    {
        "id": "8931a57994764c9b945a7a1b352c9ae5_f69c614d9726480e9f2063d1fa65ddbe_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915691362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915691354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915691369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915691387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915691397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915691377813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,689.2,674.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8931a57994764c9b945a7a1b352c9ae5_f69c614d9726480e9f2063d1fa65ddbe_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915691362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915691354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915691369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915691387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915691397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915691377813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,689.2,674.2>? 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": "8931a57994764c9b945a7a1b352c9ae5_f69c614d9726480e9f2063d1fa65ddbe_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915691362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915691354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915691369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915691387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915691397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915691377813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,689.2,674.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "8931a57994764c9b945a7a1b352c9ae5_f69c614d9726480e9f2063d1fa65ddbe_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915691362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915691354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915691369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915691387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915691397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915691377813.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 ahead."
            }
        ]
    },
    {
        "id": "8931a57994764c9b945a7a1b352c9ae5_f69c614d9726480e9f2063d1fa65ddbe_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915691362465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915691354917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915691369956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915691387570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915691397295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915691377813.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": "ab6eea0e06c84f70be411a9d36636a7a_ec3c5922922148ea90ac073d03623c93_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915622862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915622854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915622869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915622887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915622897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915622877813.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 pickup truck to the back of the ego vehicle, a white truck to the front right of the ego vehicle, a yellow truck to the front left of the ego vehicle, and a black SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,386.9,502.0>, <c2,CAM_FRONT_RIGHT,403.3,402.5>, <c3,CAM_FRONT_LEFT,1055.0,408.3>, and <c4,CAM_BACK,1186.1,493.3>."
            }
        ]
    },
    {
        "id": "ab6eea0e06c84f70be411a9d36636a7a_ec3c5922922148ea90ac073d03623c93_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915622862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915622854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915622869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915622887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915622897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915622877813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,403.3,402.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ab6eea0e06c84f70be411a9d36636a7a_ec3c5922922148ea90ac073d03623c93_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915622862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915622854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915622869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915622887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915622897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915622877813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,386.9,502.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ab6eea0e06c84f70be411a9d36636a7a_ec3c5922922148ea90ac073d03623c93_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915622862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915622854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915622869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915622887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915622897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915622877813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,386.9,502.0>? 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": "ab6eea0e06c84f70be411a9d36636a7a_ec3c5922922148ea90ac073d03623c93_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915622862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915622854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915622869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915622887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915622897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915622877813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,386.9,502.0>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "ab6eea0e06c84f70be411a9d36636a7a_ec3c5922922148ea90ac073d03623c93_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915622862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915622854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915622869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915622887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915622897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915622877813.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "ab6eea0e06c84f70be411a9d36636a7a_ec3c5922922148ea90ac073d03623c93_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915622862465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915622854917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915622869956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915622887570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915622897295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915622877813.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": "fee7ac5f5c1e4943877cd20d6e069427_60ae5aad4543441ea39567642f2b4dfb_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194147412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194147404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194147420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194147437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194147447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194147427893.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 unable to determine to the front of the ego vehicle, a cannot determine to the front of the ego vehicle, and a person wearing a white shirt to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,700.8,465.8>, <c2,CAM_FRONT,587.5,496.7>, and <c3,CAM_FRONT,980.8,495.8>."
            }
        ]
    },
    {
        "id": "fee7ac5f5c1e4943877cd20d6e069427_60ae5aad4543441ea39567642f2b4dfb_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194147412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194147404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194147420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194147437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194147447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194147427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,700.8,465.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fee7ac5f5c1e4943877cd20d6e069427_60ae5aad4543441ea39567642f2b4dfb_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194147412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194147404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194147420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194147437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194147447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194147427893.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 <c3,CAM_FRONT,980.8,495.8>. It is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice <c2,CAM_FRONT,587.5,496.7>. It is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice <c1,CAM_FRONT,700.8,465.8>. It is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "fee7ac5f5c1e4943877cd20d6e069427_60ae5aad4543441ea39567642f2b4dfb_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194147412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194147404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194147420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194147437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194147447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194147427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,700.8,465.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fee7ac5f5c1e4943877cd20d6e069427_60ae5aad4543441ea39567642f2b4dfb_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194147412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194147404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194147420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194147437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194147447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194147427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,700.8,465.8>? 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": "fee7ac5f5c1e4943877cd20d6e069427_60ae5aad4543441ea39567642f2b4dfb_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194147412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194147404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194147420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194147437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194147447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194147427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,700.8,465.8>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "fee7ac5f5c1e4943877cd20d6e069427_60ae5aad4543441ea39567642f2b4dfb_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194147412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194147404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194147420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194147437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194147447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194147427893.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, back up, slightly offset to the left, or slightly offset to the right."
            }
        ]
    },
    {
        "id": "fee7ac5f5c1e4943877cd20d6e069427_60ae5aad4543441ea39567642f2b4dfb_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194147412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194147404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194147420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194147437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194147447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194147427893.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": "e1e664292aa144bc8d0d5d6441df084c_75938fd607534cd3b90ce2e80e834835_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298996162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298996154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298996170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298996187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298996197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298996178113.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 right of the ego vehicle, a white minibus to the front of the ego vehicle, a red truck to the front of the ego vehicle, a white micro truck to the back of the ego vehicle, a black small car to the front left of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,177.5,725.0>, <c2,CAM_FRONT,547.5,440.8>, <c3,CAM_FRONT,735.0,422.5>, <c4,CAM_BACK,848.7,461.7>, <c5,CAM_FRONT_LEFT,745.0,639.0>, and <c6,CAM_FRONT,748.1,310.2>."
            }
        ]
    },
    {
        "id": "e1e664292aa144bc8d0d5d6441df084c_75938fd607534cd3b90ce2e80e834835_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298996162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298996154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298996170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298996187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298996197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298996178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,547.5,440.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e1e664292aa144bc8d0d5d6441df084c_75938fd607534cd3b90ce2e80e834835_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298996162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298996154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298996170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298996187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298996197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298996178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,177.5,725.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e1e664292aa144bc8d0d5d6441df084c_75938fd607534cd3b90ce2e80e834835_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298996162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298996154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298996170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298996187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298996197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298996178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,177.5,725.0>? 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": "e1e664292aa144bc8d0d5d6441df084c_75938fd607534cd3b90ce2e80e834835_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298996162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298996154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298996170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298996187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298996197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298996178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,177.5,725.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "e1e664292aa144bc8d0d5d6441df084c_75938fd607534cd3b90ce2e80e834835_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298996162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298996154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298996170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298996187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298996197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298996178113.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": "e1e664292aa144bc8d0d5d6441df084c_75938fd607534cd3b90ce2e80e834835_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298996162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298996154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298996170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298996187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298996197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298996178113.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": "85e8f6d6743a4897b5e07e685267868e_beaf0fa78a3741118bef3ee24a4086d6_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573966662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573966654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573966670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573966687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573966697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573966678113.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 gray top and blue pants to the front right of the ego vehicle, a dark blue sedan to the back of the ego vehicle, a black car to the front of the ego vehicle, a person wearing a black top and gray shorts to the front of the ego vehicle, a black sedan 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 <c1,CAM_FRONT_RIGHT,340.8,611.7>, <c2,CAM_BACK,855.0,630.0>, <c3,CAM_FRONT,849.2,499.2>, <c4,CAM_FRONT,387.5,632.9>, <c5,CAM_BACK,283.4,688.7>, and <c6,CAM_FRONT,933.6,305.7>."
            }
        ]
    },
    {
        "id": "85e8f6d6743a4897b5e07e685267868e_beaf0fa78a3741118bef3ee24a4086d6_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573966662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573966654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573966670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573966687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573966697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573966678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,340.8,611.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "85e8f6d6743a4897b5e07e685267868e_beaf0fa78a3741118bef3ee24a4086d6_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573966662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573966654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573966670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573966687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573966697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573966678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,340.8,611.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "85e8f6d6743a4897b5e07e685267868e_beaf0fa78a3741118bef3ee24a4086d6_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573966662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573966654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573966670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573966687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573966697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573966678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,340.8,611.7>? 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": "85e8f6d6743a4897b5e07e685267868e_beaf0fa78a3741118bef3ee24a4086d6_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573966662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573966654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573966670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573966687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573966697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573966678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,340.8,611.7>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "85e8f6d6743a4897b5e07e685267868e_beaf0fa78a3741118bef3ee24a4086d6_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573966662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573966654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573966670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573966687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573966697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573966678113.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, brake suddenly, and brake gently to a stop."
            }
        ]
    },
    {
        "id": "85e8f6d6743a4897b5e07e685267868e_beaf0fa78a3741118bef3ee24a4086d6_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573966662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573966654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573966670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573966687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573966697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573966678113.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": "75a4ec12042542149b0a77a0a10d6330_d4b313b4957044559e6618ecc147474e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915322512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915322504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915322519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915322537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915322547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915322527813.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 black sedan to the front right of the ego vehicle, a white sedan to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a signpost to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1187.5,498.3>, <c2,CAM_FRONT_RIGHT,549.2,485.8>, <c3,CAM_FRONT,893.3,481.7>, <c4,CAM_BACK,552.5,444.2>, and <c5,CAM_FRONT,986.3,409.6>."
            }
        ]
    },
    {
        "id": "75a4ec12042542149b0a77a0a10d6330_d4b313b4957044559e6618ecc147474e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915322512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915322504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915322519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915322537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915322547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915322527813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,552.5,444.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "75a4ec12042542149b0a77a0a10d6330_d4b313b4957044559e6618ecc147474e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915322512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915322504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915322519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915322537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915322547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915322527813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1187.5,498.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "75a4ec12042542149b0a77a0a10d6330_d4b313b4957044559e6618ecc147474e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915322512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915322504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915322519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915322537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915322547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915322527813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1187.5,498.3>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "75a4ec12042542149b0a77a0a10d6330_d4b313b4957044559e6618ecc147474e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915322512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915322504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915322519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915322537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915322547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915322527813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1187.5,498.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "75a4ec12042542149b0a77a0a10d6330_d4b313b4957044559e6618ecc147474e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915322512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915322504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915322519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915322537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915322547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915322527813.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": "75a4ec12042542149b0a77a0a10d6330_d4b313b4957044559e6618ecc147474e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915322512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915322504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915322519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915322537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915322547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915322527813.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": "1c89941a6935484182ca19eddcd3bc77_3c1e4176776a4eed8214c9e305432ead_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281224662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281224654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281224670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281224687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281224697509.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281224677893.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 front of the ego vehicle, a black sedan to the front of the ego vehicle, and a white arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,873.3,504.2>, <c2,CAM_FRONT,381.7,642.5>, and <c3,CAM_FRONT,682.4,625.2>."
            }
        ]
    },
    {
        "id": "1c89941a6935484182ca19eddcd3bc77_3c1e4176776a4eed8214c9e305432ead_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281224662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281224654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281224670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281224687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281224697509.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281224677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,873.3,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "1c89941a6935484182ca19eddcd3bc77_3c1e4176776a4eed8214c9e305432ead_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281224662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281224654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281224670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281224687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281224697509.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281224677893.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 <c2,CAM_FRONT,381.7,642.5>. The object is stationary, so the ego vehicle should also remain stationary. Secondly, notice that <c1,CAM_FRONT,873.3,504.2>. The object is going ahead, so the ego vehicle should remain stationary. Thirdly, notice that <c3,CAM_FRONT,682.4,625.2>. The object is a traffic sign, so the ego vehicle should remain stationary."
            }
        ]
    },
    {
        "id": "1c89941a6935484182ca19eddcd3bc77_3c1e4176776a4eed8214c9e305432ead_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281224662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281224654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281224670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281224687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281224697509.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281224677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,873.3,504.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "1c89941a6935484182ca19eddcd3bc77_3c1e4176776a4eed8214c9e305432ead_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281224662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281224654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281224670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281224687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281224697509.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281224677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,873.3,504.2>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to keep stationary, the reason is to avoid a collision, high."
            }
        ]
    },
    {
        "id": "1c89941a6935484182ca19eddcd3bc77_3c1e4176776a4eed8214c9e305432ead_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281224662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281224654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281224670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281224687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281224697509.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281224677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,873.3,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "1c89941a6935484182ca19eddcd3bc77_3c1e4176776a4eed8214c9e305432ead_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281224662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281224654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281224670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281224687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281224697509.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281224677893.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, slightly offset to the left."
            }
        ]
    },
    {
        "id": "1c89941a6935484182ca19eddcd3bc77_3c1e4176776a4eed8214c9e305432ead_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281224662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281224654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281224670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281224687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281224697509.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281224677893.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": "eae0cfe3be5f44a5be4f3e2c961397ed_9d0a81b7d3d843a69827dc0c81aebfc8_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707973863324.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707973854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707973870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707973887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707973897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707973878113.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 van to the front left of the ego vehicle, a white truck to the front of the ego vehicle, a black car to the back of the ego vehicle, a white truck to the back left of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,450.0,510.8>, <c2,CAM_FRONT_LEFT,623.5,652.8>, <c3,CAM_FRONT,74.2,513.3>, <c4,CAM_BACK,827.5,598.3>, <c5,CAM_BACK_LEFT,235.8,484.2>, and <c6,CAM_FRONT,409.3,356.8>."
            }
        ]
    },
    {
        "id": "eae0cfe3be5f44a5be4f3e2c961397ed_9d0a81b7d3d843a69827dc0c81aebfc8_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707973863324.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707973854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707973870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707973887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707973897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707973878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,827.5,598.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "eae0cfe3be5f44a5be4f3e2c961397ed_9d0a81b7d3d843a69827dc0c81aebfc8_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707973863324.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707973854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707973870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707973887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707973897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707973878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,450.0,510.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "eae0cfe3be5f44a5be4f3e2c961397ed_9d0a81b7d3d843a69827dc0c81aebfc8_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707973863324.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707973854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707973870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707973887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707973897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707973878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,450.0,510.8>? 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": "eae0cfe3be5f44a5be4f3e2c961397ed_9d0a81b7d3d843a69827dc0c81aebfc8_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707973863324.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707973854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707973870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707973887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707973897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707973878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,450.0,510.8>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,450.0,510.8>."
            }
        ]
    },
    {
        "id": "eae0cfe3be5f44a5be4f3e2c961397ed_9d0a81b7d3d843a69827dc0c81aebfc8_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707973863324.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707973854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707973870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707973887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707973897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707973878113.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": "eae0cfe3be5f44a5be4f3e2c961397ed_9d0a81b7d3d843a69827dc0c81aebfc8_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707973863324.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707973854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707973870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707973887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707973897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707973878113.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": "ff6af17f52c34e9c9958c64e41fb3786_c24942bf1e4d400297a27876fa7351e2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385153662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385153654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385153670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385153687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385153697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385153678113.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 gray sedan to the back of the ego vehicle, and a black car to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1244.2,498.3>, <c2,CAM_BACK,821.7,586.7>, and <c3,CAM_FRONT_LEFT,772.5,559.2>."
            }
        ]
    },
    {
        "id": "ff6af17f52c34e9c9958c64e41fb3786_c24942bf1e4d400297a27876fa7351e2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385153662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385153654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385153670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385153687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385153697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385153678113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1244.2,498.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ff6af17f52c34e9c9958c64e41fb3786_c24942bf1e4d400297a27876fa7351e2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385153662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385153654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385153670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385153687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385153697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385153678113.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 <c3,CAM_FRONT_LEFT,772.5,559.2>. The object is turning right, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c1,CAM_FRONT,1244.2,498.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK,821.7,586.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "ff6af17f52c34e9c9958c64e41fb3786_c24942bf1e4d400297a27876fa7351e2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385153662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385153654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385153670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385153687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385153697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385153678113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1244.2,498.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ff6af17f52c34e9c9958c64e41fb3786_c24942bf1e4d400297a27876fa7351e2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385153662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385153654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385153670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385153687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385153697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385153678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1244.2,498.3>? 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": "ff6af17f52c34e9c9958c64e41fb3786_c24942bf1e4d400297a27876fa7351e2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385153662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385153654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385153670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385153687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385153697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385153678113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1244.2,498.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "ff6af17f52c34e9c9958c64e41fb3786_c24942bf1e4d400297a27876fa7351e2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385153662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385153654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385153670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385153687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385153697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385153678113.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": "ff6af17f52c34e9c9958c64e41fb3786_c24942bf1e4d400297a27876fa7351e2_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385153662404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385153654799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385153670482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385153687558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385153697405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385153678113.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": "a99120daccb24bcd941b33e6e03bf718_a703f711350546ef9726922abc846294_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202414412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202414404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202414420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202414437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202414447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202414427893.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 golden car to the front right of the ego vehicle, a shilingpo to the front left of the ego vehicle, and a gold and silver car to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1486.7,492.5>, <c3,CAM_FRONT_LEFT,888.5,418.0>, and <c2,CAM_BACK_RIGHT,151.7,515.8>."
            }
        ]
    },
    {
        "id": "a99120daccb24bcd941b33e6e03bf718_a703f711350546ef9726922abc846294_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202414412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202414404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202414420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202414437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202414447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202414427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,1486.7,492.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "a99120daccb24bcd941b33e6e03bf718_a703f711350546ef9726922abc846294_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202414412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202414404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202414420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202414437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202414447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202414427893.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": "First, notice <c3,CAM_FRONT_LEFT,888.5,418.0>, which is a road sign, so the ego vehicle should take a left turn. Second, notice <c1,CAM_FRONT_RIGHT,1486.7,492.5>, which is a left turn, so the ego vehicle should maintain speed and continue straight ahead. Finally, notice <c2,CAM_BACK_RIGHT,151.7,515.8>, which is a left turn, so the ego vehicle should take a left turn."
            }
        ]
    },
    {
        "id": "a99120daccb24bcd941b33e6e03bf718_a703f711350546ef9726922abc846294_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202414412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202414404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202414420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202414437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202414447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202414427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1486.7,492.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a99120daccb24bcd941b33e6e03bf718_a703f711350546ef9726922abc846294_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202414412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202414404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202414420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202414437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202414447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202414427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1486.7,492.5>? 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": "a99120daccb24bcd941b33e6e03bf718_a703f711350546ef9726922abc846294_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202414412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202414404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202414420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202414437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202414447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202414427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1486.7,492.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp right turn."
            }
        ]
    },
    {
        "id": "a99120daccb24bcd941b33e6e03bf718_a703f711350546ef9726922abc846294_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202414412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202414404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202414420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202414437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202414447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202414427893.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."
            }
        ]
    },
    {
        "id": "a99120daccb24bcd941b33e6e03bf718_a703f711350546ef9726922abc846294_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202414412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202414404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202414420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202414437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202414447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202414427893.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": "a99120daccb24bcd941b33e6e03bf718_33d1c7fcf9744877a6b0dc2b4d26340e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202405412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202405404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202405420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202405437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202405447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202405427893.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 purple bus to the back of the ego vehicle, a silver SUV to the front right of the ego vehicle, and a white tanker truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,973.3,493.3>, <c2,CAM_BACK,318.8,460.4>, <c3,CAM_FRONT_RIGHT,185.0,708.3>, and <c4,CAM_FRONT,817.5,465.0>."
            }
        ]
    },
    {
        "id": "a99120daccb24bcd941b33e6e03bf718_33d1c7fcf9744877a6b0dc2b4d26340e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202405412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202405404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202405420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202405437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202405447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202405427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,973.3,493.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "a99120daccb24bcd941b33e6e03bf718_33d1c7fcf9744877a6b0dc2b4d26340e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202405412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202405404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202405420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202405437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202405447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202405427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,973.3,493.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "a99120daccb24bcd941b33e6e03bf718_33d1c7fcf9744877a6b0dc2b4d26340e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202405412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202405404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202405420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202405437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202405447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202405427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,973.3,493.3>? 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": "a99120daccb24bcd941b33e6e03bf718_33d1c7fcf9744877a6b0dc2b4d26340e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202405412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202405404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202405420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202405437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202405447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202405427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,973.3,493.3>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "a99120daccb24bcd941b33e6e03bf718_33d1c7fcf9744877a6b0dc2b4d26340e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202405412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202405404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202405420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202405437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202405447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202405427893.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": "a99120daccb24bcd941b33e6e03bf718_33d1c7fcf9744877a6b0dc2b4d26340e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202405412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202405404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202405420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202405437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202405447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202405427893.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": "bed12977df5a41dcb97ac69eeae3682c_5e4ea1bb91a34554b5afb49142613587_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287055112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287055104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287055120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287055137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287055147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287055128113.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 fiber car to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, a red truck to the back of the ego vehicle, and a black pickup truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1013.3,382.5>, <c2,CAM_FRONT,602.5,516.7>, <c3,CAM_BACK,850.0,475.0>, and <c4,CAM_FRONT,1556.7,538.3>."
            }
        ]
    },
    {
        "id": "bed12977df5a41dcb97ac69eeae3682c_5e4ea1bb91a34554b5afb49142613587_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287055112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287055104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287055120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287055137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287055147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287055128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,602.5,516.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "bed12977df5a41dcb97ac69eeae3682c_5e4ea1bb91a34554b5afb49142613587_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287055112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287055104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287055120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287055137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287055147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287055128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1013.3,382.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "bed12977df5a41dcb97ac69eeae3682c_5e4ea1bb91a34554b5afb49142613587_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287055112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287055104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287055120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287055137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287055147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287055128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1013.3,382.5>? 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": "bed12977df5a41dcb97ac69eeae3682c_5e4ea1bb91a34554b5afb49142613587_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287055112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287055104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287055120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287055137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287055147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287055128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1013.3,382.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "bed12977df5a41dcb97ac69eeae3682c_5e4ea1bb91a34554b5afb49142613587_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287055112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287055104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287055120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287055137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287055147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287055128113.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": "bed12977df5a41dcb97ac69eeae3682c_5e4ea1bb91a34554b5afb49142613587_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287055112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287055104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287055120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287055137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287055147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287055128113.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": "6193fac132614eb1a09dcbf3f359460f_9bb8c945086d482aa7cb38bb390d73c7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287019362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287019354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287019370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287019387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287019397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287019378113.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 car to the front of the ego vehicle, a dark green truck to the front right of the ego vehicle, and a black truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,520.8,635.0>, <c2,CAM_FRONT_RIGHT,151.7,571.5>, and <c3,CAM_BACK,1082.5,475.8>."
            }
        ]
    },
    {
        "id": "6193fac132614eb1a09dcbf3f359460f_9bb8c945086d482aa7cb38bb390d73c7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287019362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287019354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287019370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287019387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287019397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287019378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,520.8,635.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "6193fac132614eb1a09dcbf3f359460f_9bb8c945086d482aa7cb38bb390d73c7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287019362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287019354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287019370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287019387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287019397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287019378113.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 <c1,CAM_FRONT,520.8,635.0>. It is going ahead, so the ego vehicle should continue at the same speed. Secondly, notice <c2,CAM_FRONT_RIGHT,151.7,571.5>. It is stationary, so the ego vehicle should continue at the same speed. Thirdly, notice <c3,CAM_BACK,1082.5,475.8>. It is stationary, so the ego vehicle should continue at the same speed."
            }
        ]
    },
    {
        "id": "6193fac132614eb1a09dcbf3f359460f_9bb8c945086d482aa7cb38bb390d73c7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287019362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287019354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287019370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287019387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287019397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287019378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,520.8,635.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "6193fac132614eb1a09dcbf3f359460f_9bb8c945086d482aa7cb38bb390d73c7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287019362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287019354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287019370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287019387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287019397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287019378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,520.8,635.0>? 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": "6193fac132614eb1a09dcbf3f359460f_9bb8c945086d482aa7cb38bb390d73c7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287019362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287019354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287019370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287019387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287019397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287019378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,520.8,635.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "6193fac132614eb1a09dcbf3f359460f_9bb8c945086d482aa7cb38bb390d73c7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287019362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287019354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287019370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287019387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287019397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287019378113.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 continue forward, or back up."
            }
        ]
    },
    {
        "id": "6193fac132614eb1a09dcbf3f359460f_9bb8c945086d482aa7cb38bb390d73c7_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287019362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287019354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287019370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287019387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287019397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287019378113.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": "8383c0b1422b46ad90e2a64ff3e91fcf_c436599998e641c0ad75d98eb6cadbbc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845332162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845332154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845332170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845332187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845332197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845332177893.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 front of the ego vehicle, a black car to the back of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,43.3,684.2>, <c2,CAM_BACK,876.7,535.0>, and <c3,CAM_FRONT,642.5,517.5>."
            }
        ]
    },
    {
        "id": "8383c0b1422b46ad90e2a64ff3e91fcf_c436599998e641c0ad75d98eb6cadbbc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845332162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845332154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845332170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845332187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845332197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845332177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,43.3,684.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "8383c0b1422b46ad90e2a64ff3e91fcf_c436599998e641c0ad75d98eb6cadbbc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845332162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845332154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845332170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845332187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845332197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845332177893.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 <c1,CAM_FRONT,43.3,684.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice <c3,CAM_FRONT,642.5,517.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c2,CAM_BACK,876.7,535.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "8383c0b1422b46ad90e2a64ff3e91fcf_c436599998e641c0ad75d98eb6cadbbc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845332162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845332154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845332170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845332187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845332197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845332177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,43.3,684.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "8383c0b1422b46ad90e2a64ff3e91fcf_c436599998e641c0ad75d98eb6cadbbc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845332162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845332154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845332170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845332187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845332197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845332177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,43.3,684.2>? 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": "8383c0b1422b46ad90e2a64ff3e91fcf_c436599998e641c0ad75d98eb6cadbbc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845332162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845332154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845332170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845332187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845332197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845332177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,43.3,684.2>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "8383c0b1422b46ad90e2a64ff3e91fcf_c436599998e641c0ad75d98eb6cadbbc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845332162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845332154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845332170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845332187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845332197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845332177893.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": "8383c0b1422b46ad90e2a64ff3e91fcf_c436599998e641c0ad75d98eb6cadbbc_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845332162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845332154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845332170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845332187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845332197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845332177893.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": "44f25e0b668e4077abf57f3df320bb57_9179748cda1a4f4a895bdb8f3f62af46_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658888612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658888604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658888620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658888637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658888647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658888628113.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 front right of the ego vehicle, a silver car to the front right of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,180.0,663.7>, <c2,CAM_FRONT_RIGHT,978.3,689.1>, and <c3,CAM_FRONT,1337.5,530.8>."
            }
        ]
    },
    {
        "id": "44f25e0b668e4077abf57f3df320bb57_9179748cda1a4f4a895bdb8f3f62af46_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658888612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658888604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658888620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658888637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658888647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658888628113.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 <c2,CAM_FRONT_RIGHT,978.3,689.1>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT_RIGHT,180.0,663.7>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,1337.5,530.8>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "44f25e0b668e4077abf57f3df320bb57_9179748cda1a4f4a895bdb8f3f62af46_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658888612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658888604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658888620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658888637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658888647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658888628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,180.0,663.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "44f25e0b668e4077abf57f3df320bb57_9179748cda1a4f4a895bdb8f3f62af46_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658888612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658888604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658888620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658888637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658888647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658888628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,180.0,663.7>? 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": "44f25e0b668e4077abf57f3df320bb57_9179748cda1a4f4a895bdb8f3f62af46_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658888612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658888604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658888620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658888637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658888647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658888628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,180.0,663.7>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "44f25e0b668e4077abf57f3df320bb57_9179748cda1a4f4a895bdb8f3f62af46_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658888612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658888604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658888620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658888637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658888647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658888628113.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": "44f25e0b668e4077abf57f3df320bb57_9179748cda1a4f4a895bdb8f3f62af46_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658888612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658888604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658888620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658888637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658888647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658888628113.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": "673ce9bdd9254fff82a524653a07b57f_b6d02a298fa04f09b798802491e579bd_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290803162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290803154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290803170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290803187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290803197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290803178113.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 truck to the front left of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,880.0,457.5>, <c2,CAM_FRONT_LEFT,691.5,351.6>, and <c3,CAM_FRONT,779.0,358.1>."
            }
        ]
    },
    {
        "id": "673ce9bdd9254fff82a524653a07b57f_b6d02a298fa04f09b798802491e579bd_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290803162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290803154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290803170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290803187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290803197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290803178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,880.0,457.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "673ce9bdd9254fff82a524653a07b57f_b6d02a298fa04f09b798802491e579bd_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290803162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290803154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290803170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290803187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290803197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290803178113.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 <c2,CAM_FRONT_LEFT,691.5,351.6>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c1,CAM_FRONT,880.0,457.5>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c3,CAM_FRONT,779.0,358.1>, it is a traffic sign, so the ego vehicle should decelerate gradually until it comes to a stop."
            }
        ]
    },
    {
        "id": "673ce9bdd9254fff82a524653a07b57f_b6d02a298fa04f09b798802491e579bd_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290803162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290803154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290803170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290803187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290803197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290803178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,880.0,457.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "673ce9bdd9254fff82a524653a07b57f_b6d02a298fa04f09b798802491e579bd_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290803162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290803154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290803170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290803187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290803197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290803178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,880.0,457.5>? 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": "673ce9bdd9254fff82a524653a07b57f_b6d02a298fa04f09b798802491e579bd_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290803162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290803154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290803170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290803187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290803197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290803178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,880.0,457.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,880.0,457.5>."
            }
        ]
    },
    {
        "id": "673ce9bdd9254fff82a524653a07b57f_b6d02a298fa04f09b798802491e579bd_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290803162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290803154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290803170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290803187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290803197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290803178113.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": "673ce9bdd9254fff82a524653a07b57f_b6d02a298fa04f09b798802491e579bd_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290803162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290803154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290803170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290803187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290803197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290803178113.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": "e0b14a8e11994763acba690bbcc3f56a_0e364b7146c848b5a5fd73bbe05e59ed_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.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 pickup truck to the front of the ego vehicle, a white truck to the back of the ego vehicle, a black car to the front right of the ego vehicle, and a no entry to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,355.0,585.8>, <c2,CAM_BACK,751.7,489.8>, <c3,CAM_FRONT_RIGHT,881.7,538.3>, and <c4,CAM_FRONT_RIGHT,350.4,466.3>."
            }
        ]
    },
    {
        "id": "e0b14a8e11994763acba690bbcc3f56a_0e364b7146c848b5a5fd73bbe05e59ed_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,355.0,585.8>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "e0b14a8e11994763acba690bbcc3f56a_0e364b7146c848b5a5fd73bbe05e59ed_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,355.0,585.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e0b14a8e11994763acba690bbcc3f56a_0e364b7146c848b5a5fd73bbe05e59ed_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,355.0,585.8>? 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, with a high probability."
            }
        ]
    },
    {
        "id": "e0b14a8e11994763acba690bbcc3f56a_0e364b7146c848b5a5fd73bbe05e59ed_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,355.0,585.8>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "e0b14a8e11994763acba690bbcc3f56a_0e364b7146c848b5a5fd73bbe05e59ed_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.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": "e0b14a8e11994763acba690bbcc3f56a_0e364b7146c848b5a5fd73bbe05e59ed_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.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": "e0b14a8e11994763acba690bbcc3f56a_8a76c43c5a034741844748d3ed9c2fbc_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287293362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287293354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287293370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287293387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287293397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287293378113.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 black sedan to the back right of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1030.0,493.3>, <c2,CAM_BACK_RIGHT,865.8,548.3>, and <c3,CAM_BACK,742.5,485.8>."
            }
        ]
    },
    {
        "id": "e0b14a8e11994763acba690bbcc3f56a_8a76c43c5a034741844748d3ed9c2fbc_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287293362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287293354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287293370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287293387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287293397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287293378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_BACK,742.5,485.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "e0b14a8e11994763acba690bbcc3f56a_8a76c43c5a034741844748d3ed9c2fbc_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287293362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287293354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287293370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287293387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287293397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287293378113.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 <c3,CAM_BACK,742.5,485.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_BACK_RIGHT,865.8,548.3>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT,1030.0,493.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "e0b14a8e11994763acba690bbcc3f56a_8a76c43c5a034741844748d3ed9c2fbc_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287293362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287293354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287293370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287293387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287293397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287293378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1030.0,493.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e0b14a8e11994763acba690bbcc3f56a_8a76c43c5a034741844748d3ed9c2fbc_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287293362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287293354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287293370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287293387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287293397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287293378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1030.0,493.3>? 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": "e0b14a8e11994763acba690bbcc3f56a_8a76c43c5a034741844748d3ed9c2fbc_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287293362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287293354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287293370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287293387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287293397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287293378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1030.0,493.3>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "e0b14a8e11994763acba690bbcc3f56a_8a76c43c5a034741844748d3ed9c2fbc_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287293362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287293354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287293370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287293387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287293397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287293378113.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": "e0b14a8e11994763acba690bbcc3f56a_8a76c43c5a034741844748d3ed9c2fbc_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287293362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287293354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287293370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287293387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287293397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287293378113.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": "567fcd99d0dc4fa088f52b047f4ebdcf_73fe910f3ef647739a9a42ff3c31291c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800526512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800526504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800526520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800526537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800526547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800526527893.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 sedan to the back of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1491.3,678.7>, <c2,CAM_BACK,820.0,544.2>, and <c3,CAM_FRONT,229.2,528.3>."
            }
        ]
    },
    {
        "id": "567fcd99d0dc4fa088f52b047f4ebdcf_73fe910f3ef647739a9a42ff3c31291c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800526512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800526504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800526520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800526537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800526547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800526527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1491.3,678.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "567fcd99d0dc4fa088f52b047f4ebdcf_73fe910f3ef647739a9a42ff3c31291c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800526512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800526504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800526520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800526537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800526547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800526527893.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 <c1,CAM_FRONT,1491.3,678.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,229.2,528.3>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,820.0,544.2>. The object is turning left, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "567fcd99d0dc4fa088f52b047f4ebdcf_73fe910f3ef647739a9a42ff3c31291c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800526512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800526504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800526520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800526537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800526547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800526527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1491.3,678.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "567fcd99d0dc4fa088f52b047f4ebdcf_73fe910f3ef647739a9a42ff3c31291c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800526512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800526504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800526520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800526537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800526547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800526527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1491.3,678.7>? 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, high."
            }
        ]
    },
    {
        "id": "567fcd99d0dc4fa088f52b047f4ebdcf_73fe910f3ef647739a9a42ff3c31291c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800526512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800526504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800526520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800526537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800526547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800526527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1491.3,678.7>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "567fcd99d0dc4fa088f52b047f4ebdcf_73fe910f3ef647739a9a42ff3c31291c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800526512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800526504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800526520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800526537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800526547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800526527893.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, slightly offset to the right."
            }
        ]
    },
    {
        "id": "567fcd99d0dc4fa088f52b047f4ebdcf_73fe910f3ef647739a9a42ff3c31291c_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800526512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800526504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800526520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800526537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800526547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800526527893.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": "b3f63d06b6c54ae6ae80d688f4966408_8ef525714010471d8b182bbe31f2b76b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985876662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985876654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985876670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985876687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985876697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985876677893.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, pedestrians crossing the road to the back right of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1261.7,593.3>, <c2,CAM_BACK_RIGHT,821.7,554.2>, and <c3,CAM_FRONT,763.3,495.8>."
            }
        ]
    },
    {
        "id": "b3f63d06b6c54ae6ae80d688f4966408_8ef525714010471d8b182bbe31f2b76b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985876662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985876654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985876670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985876687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985876697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985876677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1261.7,593.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b3f63d06b6c54ae6ae80d688f4966408_8ef525714010471d8b182bbe31f2b76b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985876662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985876654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985876670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985876687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985876697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985876677893.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 <c1,CAM_FRONT,1261.7,593.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_FRONT,763.3,495.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK_RIGHT,821.7,554.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "b3f63d06b6c54ae6ae80d688f4966408_8ef525714010471d8b182bbe31f2b76b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985876662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985876654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985876670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985876687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985876697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985876677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1261.7,593.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b3f63d06b6c54ae6ae80d688f4966408_8ef525714010471d8b182bbe31f2b76b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985876662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985876654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985876670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985876687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985876697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985876677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1261.7,593.3>? 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": "b3f63d06b6c54ae6ae80d688f4966408_8ef525714010471d8b182bbe31f2b76b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985876662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985876654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985876670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985876687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985876697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985876677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1261.7,593.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "b3f63d06b6c54ae6ae80d688f4966408_8ef525714010471d8b182bbe31f2b76b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985876662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985876654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985876670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985876687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985876697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985876677893.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": "b3f63d06b6c54ae6ae80d688f4966408_8ef525714010471d8b182bbe31f2b76b_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985876662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985876654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985876670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985876687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985876697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985876677893.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": "b3f63d06b6c54ae6ae80d688f4966408_f151e50e0f244ecabe0c51d3f702ee7d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985870762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985870754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985870770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985870787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985870797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985870777893.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 front of the ego vehicle, a white SUV to the back of the ego vehicle, and a black sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,780.8,487.5>, <c2,CAM_BACK,506.7,582.5>, and <c3,CAM_FRONT_RIGHT,175.0,690.0>."
            }
        ]
    },
    {
        "id": "b3f63d06b6c54ae6ae80d688f4966408_f151e50e0f244ecabe0c51d3f702ee7d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985870762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985870754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985870770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985870787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985870797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985870777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,780.8,487.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b3f63d06b6c54ae6ae80d688f4966408_f151e50e0f244ecabe0c51d3f702ee7d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985870762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985870754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985870770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985870787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985870797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985870777893.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 <c3,CAM_FRONT_RIGHT,175.0,690.0>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c1,CAM_FRONT,780.8,487.5>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK,506.7,582.5>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "b3f63d06b6c54ae6ae80d688f4966408_f151e50e0f244ecabe0c51d3f702ee7d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985870762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985870754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985870770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985870787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985870797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985870777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,780.8,487.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b3f63d06b6c54ae6ae80d688f4966408_f151e50e0f244ecabe0c51d3f702ee7d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985870762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985870754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985870770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985870787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985870797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985870777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,780.8,487.5>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "b3f63d06b6c54ae6ae80d688f4966408_f151e50e0f244ecabe0c51d3f702ee7d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985870762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985870754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985870770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985870787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985870797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985870777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,780.8,487.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "b3f63d06b6c54ae6ae80d688f4966408_f151e50e0f244ecabe0c51d3f702ee7d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985870762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985870754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985870770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985870787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985870797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985870777893.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": "b3f63d06b6c54ae6ae80d688f4966408_f151e50e0f244ecabe0c51d3f702ee7d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985870762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985870754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985870770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985870787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985870797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985870777893.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": "59530445fcc04c2090bfaf63f342f794_7c876ea78f93425dbda4043635da911f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153358012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153358004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153358020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153358037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153358047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153358028113.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-gray bus to the front of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,191.7,546.7>, <c2,CAM_FRONT,505.0,434.2>, and <c3,CAM_BACK,824.2,500.8>."
            }
        ]
    },
    {
        "id": "59530445fcc04c2090bfaf63f342f794_7c876ea78f93425dbda4043635da911f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153358012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153358004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153358020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153358037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153358047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153358028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,191.7,546.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "59530445fcc04c2090bfaf63f342f794_7c876ea78f93425dbda4043635da911f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153358012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153358004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153358020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153358037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153358047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153358028113.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 <c2,CAM_FRONT,505.0,434.2>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,191.7,546.7>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,824.2,500.8>; the object is going ahead, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "59530445fcc04c2090bfaf63f342f794_7c876ea78f93425dbda4043635da911f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153358012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153358004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153358020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153358037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153358047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153358028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,191.7,546.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "59530445fcc04c2090bfaf63f342f794_7c876ea78f93425dbda4043635da911f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153358012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153358004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153358020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153358037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153358047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153358028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,191.7,546.7>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "59530445fcc04c2090bfaf63f342f794_7c876ea78f93425dbda4043635da911f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153358012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153358004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153358020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153358037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153358047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153358028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,191.7,546.7>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the left lane."
            }
        ]
    },
    {
        "id": "59530445fcc04c2090bfaf63f342f794_7c876ea78f93425dbda4043635da911f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153358012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153358004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153358020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153358037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153358047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153358028113.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 same speed."
            }
        ]
    },
    {
        "id": "59530445fcc04c2090bfaf63f342f794_7c876ea78f93425dbda4043635da911f_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153358012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153358004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153358020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153358037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153358047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153358028113.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": "19640fe4b6894f97b16e0faad51432b4_3150192bc9ed485e8c930d969c18ede2_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194215112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194215104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194215120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194215137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194215147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194215127893.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 black car to the front of the ego vehicle, a silver sedan to the front of the ego vehicle, and a yellow bus to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,635.0,489.2>, <c2,CAM_FRONT,732.5,517.5>, <c3,CAM_FRONT,795.0,510.0>, and <c4,CAM_BACK,1005.0,497.5>."
            }
        ]
    },
    {
        "id": "19640fe4b6894f97b16e0faad51432b4_3150192bc9ed485e8c930d969c18ede2_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194215112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194215104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194215120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194215137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194215147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194215127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,732.5,517.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "19640fe4b6894f97b16e0faad51432b4_3150192bc9ed485e8c930d969c18ede2_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194215112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194215104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194215120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194215137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194215147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194215127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,635.0,489.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "19640fe4b6894f97b16e0faad51432b4_3150192bc9ed485e8c930d969c18ede2_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194215112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194215104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194215120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194215137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194215147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194215127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,635.0,489.2>? 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": "19640fe4b6894f97b16e0faad51432b4_3150192bc9ed485e8c930d969c18ede2_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194215112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194215104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194215120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194215137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194215147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194215127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,635.0,489.2>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "19640fe4b6894f97b16e0faad51432b4_3150192bc9ed485e8c930d969c18ede2_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194215112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194215104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194215120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194215137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194215147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194215127893.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": "19640fe4b6894f97b16e0faad51432b4_3150192bc9ed485e8c930d969c18ede2_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194215112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194215104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194215120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194215137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194215147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194215127893.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": "4db0eee3b82d49b198c1a411cf7f7d68_17b688a1a3df4096a69c036282d01592_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113040512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113040504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113040520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113040537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113040547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113040527893.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 man wearing jeans to the front of the ego vehicle, a black car to the front right of the ego vehicle, a yellow van to the front left of the ego vehicle, and a blue sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1165.8,540.8>, <c2,CAM_FRONT_RIGHT,377.5,675.0>, <c3,CAM_FRONT_LEFT,1475.0,600.8>, and <c4,CAM_BACK,876.7,530.8>."
            }
        ]
    },
    {
        "id": "4db0eee3b82d49b198c1a411cf7f7d68_17b688a1a3df4096a69c036282d01592_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113040512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113040504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113040520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113040537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113040547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113040527893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1165.8,540.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4db0eee3b82d49b198c1a411cf7f7d68_17b688a1a3df4096a69c036282d01592_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113040512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113040504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113040520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113040537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113040547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113040527893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1165.8,540.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4db0eee3b82d49b198c1a411cf7f7d68_17b688a1a3df4096a69c036282d01592_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113040512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113040504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113040520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113040537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113040547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113040527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1165.8,540.8>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to decelerate gradually without braking. The reason is to maintain a safe distance, which is high."
            }
        ]
    },
    {
        "id": "4db0eee3b82d49b198c1a411cf7f7d68_17b688a1a3df4096a69c036282d01592_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113040512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113040504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113040520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113040537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113040547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113040527893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,377.5,675.0>?"
            },
            {
                "from": "gpt",
                "value": "Changing to the right lane."
            }
        ]
    },
    {
        "id": "4db0eee3b82d49b198c1a411cf7f7d68_17b688a1a3df4096a69c036282d01592_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113040512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113040504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113040520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113040537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113040547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113040527893.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 right, or slightly offset to the left."
            }
        ]
    },
    {
        "id": "4db0eee3b82d49b198c1a411cf7f7d68_17b688a1a3df4096a69c036282d01592_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113040512460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113040504844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113040520339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113040537525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113040547423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113040527893.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": "4a4d09496d594c7385a1ec227bdb3a7f_a4bfa219eb0146f19c1e29622cfdc4ef_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289815262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289815254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289815270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289815287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289815297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289815278113.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 small car to the back of the ego vehicle, a black SUV to the back of the ego vehicle, a white truck to the front of the ego vehicle, a red truck to the front of the ego vehicle, and a white SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1322.5,499.2>, <c2,CAM_BACK,384.2,493.3>, <c3,CAM_FRONT,1178.3,461.7>, <c4,CAM_FRONT,630.9,471.0>, and <c5,CAM_FRONT,1473.7,478.4>."
            }
        ]
    },
    {
        "id": "4a4d09496d594c7385a1ec227bdb3a7f_a4bfa219eb0146f19c1e29622cfdc4ef_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289815262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289815254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289815270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289815287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289815297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289815278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,384.2,493.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "4a4d09496d594c7385a1ec227bdb3a7f_a4bfa219eb0146f19c1e29622cfdc4ef_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289815262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289815254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289815270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289815287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289815297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289815278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1322.5,499.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "4a4d09496d594c7385a1ec227bdb3a7f_a4bfa219eb0146f19c1e29622cfdc4ef_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289815262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289815254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289815270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289815287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289815297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289815278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1322.5,499.2>? 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 is high."
            }
        ]
    },
    {
        "id": "4a4d09496d594c7385a1ec227bdb3a7f_a4bfa219eb0146f19c1e29622cfdc4ef_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289815262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289815254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289815270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289815287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289815297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289815278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1322.5,499.2>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "4a4d09496d594c7385a1ec227bdb3a7f_a4bfa219eb0146f19c1e29622cfdc4ef_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289815262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289815254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289815270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289815287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289815297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289815278113.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 and change to the right lane."
            }
        ]
    },
    {
        "id": "4a4d09496d594c7385a1ec227bdb3a7f_a4bfa219eb0146f19c1e29622cfdc4ef_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289815262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289815254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289815270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289815287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289815297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289815278113.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": "ea68050d37ea40688241b2dc361ec886_d3e7f01213f7446ba131da41616360db_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985925612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985925604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985925620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985925637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985925647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985925627893.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 back of the ego vehicle, a silver business car to the back of the ego vehicle, a white sedan to the front of the ego vehicle, and a silver business car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1005.8,487.5>, <c2,CAM_BACK,1235.1,534.0>, <c3,CAM_FRONT,762.5,476.7>, and <c4,CAM_FRONT,933.3,483.3>."
            }
        ]
    },
    {
        "id": "ea68050d37ea40688241b2dc361ec886_d3e7f01213f7446ba131da41616360db_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985925612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985925604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985925620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985925637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985925647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985925627893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,1005.8,487.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "ea68050d37ea40688241b2dc361ec886_d3e7f01213f7446ba131da41616360db_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985925612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985925604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985925620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985925637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985925647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985925627893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1005.8,487.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "ea68050d37ea40688241b2dc361ec886_d3e7f01213f7446ba131da41616360db_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985925612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985925604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985925620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985925637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985925647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985925627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1005.8,487.5>? 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": "ea68050d37ea40688241b2dc361ec886_d3e7f01213f7446ba131da41616360db_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985925612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985925604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985925620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985925637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985925647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985925627893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1005.8,487.5>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,1005.8,487.5>."
            }
        ]
    },
    {
        "id": "ea68050d37ea40688241b2dc361ec886_d3e7f01213f7446ba131da41616360db_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985925612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985925604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985925620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985925637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985925647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985925627893.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": "ea68050d37ea40688241b2dc361ec886_d3e7f01213f7446ba131da41616360db_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985925612460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985925604844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985925620339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985925637525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985925647423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985925627893.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": "69e393da7cb54eb6bea7927a2af0d1ee_ee4e6f4d5c6d458c892cb3aa7723546e_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290234112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290234104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290234120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290234137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290234147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290234128113.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 motorhome to the back of the ego vehicle, a black sedan to the front of the ego vehicle, a black SUV to the front of the ego vehicle, a white sedan to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,815.8,513.3>, <c2,CAM_FRONT,203.3,625.0>, <c3,CAM_FRONT,969.2,484.2>, <c4,CAM_FRONT,730.8,482.5>, and <c5,CAM_FRONT,915.3,184.5>."
            }
        ]
    },
    {
        "id": "69e393da7cb54eb6bea7927a2af0d1ee_ee4e6f4d5c6d458c892cb3aa7723546e_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290234112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290234104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290234120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290234137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290234147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290234128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,815.8,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "69e393da7cb54eb6bea7927a2af0d1ee_ee4e6f4d5c6d458c892cb3aa7723546e_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290234112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290234104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290234120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290234137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290234147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290234128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,815.8,513.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "69e393da7cb54eb6bea7927a2af0d1ee_ee4e6f4d5c6d458c892cb3aa7723546e_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290234112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290234104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290234120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290234137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290234147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290234128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,815.8,513.3>? 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": "69e393da7cb54eb6bea7927a2af0d1ee_ee4e6f4d5c6d458c892cb3aa7723546e_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290234112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290234104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290234120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290234137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290234147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290234128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,815.8,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "69e393da7cb54eb6bea7927a2af0d1ee_ee4e6f4d5c6d458c892cb3aa7723546e_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290234112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290234104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290234120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290234137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290234147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290234128113.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": "69e393da7cb54eb6bea7927a2af0d1ee_ee4e6f4d5c6d458c892cb3aa7723546e_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290234112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290234104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290234120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290234137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290234147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290234128113.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": "f4395dd8e4004f12a8dec3079a93d804_4fc939cd23ad43439a3a8a695103cc53_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662701912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662701905434.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662701920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662701937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662701947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662701927893.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 car to the front right of the ego vehicle, a stationary tram to the front of the ego vehicle, a silver sedan to the front right of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,544.2,524.2>, <c2,CAM_FRONT,1019.2,544.2>, <c3,CAM_FRONT_RIGHT,112.1,649.2>, and <c4,CAM_BACK,901.7,532.5>."
            }
        ]
    },
    {
        "id": "f4395dd8e4004f12a8dec3079a93d804_4fc939cd23ad43439a3a8a695103cc53_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662701912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662701905434.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662701920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662701937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662701947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662701927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT_RIGHT,112.1,649.2>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "f4395dd8e4004f12a8dec3079a93d804_4fc939cd23ad43439a3a8a695103cc53_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662701912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662701905434.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662701920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662701937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662701947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662701927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,544.2,524.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f4395dd8e4004f12a8dec3079a93d804_4fc939cd23ad43439a3a8a695103cc53_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662701912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662701905434.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662701920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662701937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662701947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662701927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,544.2,524.2>? 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 probability."
            }
        ]
    },
    {
        "id": "f4395dd8e4004f12a8dec3079a93d804_4fc939cd23ad43439a3a8a695103cc53_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662701912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662701905434.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662701920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662701937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662701947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662701927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,544.2,524.2>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "f4395dd8e4004f12a8dec3079a93d804_4fc939cd23ad43439a3a8a695103cc53_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662701912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662701905434.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662701920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662701937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662701947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662701927893.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": "f4395dd8e4004f12a8dec3079a93d804_4fc939cd23ad43439a3a8a695103cc53_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662701912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662701905434.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662701920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662701937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662701947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662701927893.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": "f4395dd8e4004f12a8dec3079a93d804_31ade13b1261445dae7298e8d9f1f101_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662711912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662711904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662711920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662711937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662711947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662711927893.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 woman wearing black pants to the front left of the ego vehicle, a white sedan to the back of the ego vehicle, a person wearing blue clothes to the front of the ego vehicle, and a black car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1130.8,503.3>, <c2,CAM_BACK,534.2,532.5>, <c3,CAM_FRONT,1225.0,553.3>, and <c4,CAM_FRONT_RIGHT,1089.1,728.8>."
            }
        ]
    },
    {
        "id": "f4395dd8e4004f12a8dec3079a93d804_31ade13b1261445dae7298e8d9f1f101_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662711912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662711904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662711920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662711937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662711947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662711927893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,1130.8,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "f4395dd8e4004f12a8dec3079a93d804_31ade13b1261445dae7298e8d9f1f101_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662711912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662711904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662711920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662711937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662711947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662711927893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1130.8,503.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "f4395dd8e4004f12a8dec3079a93d804_31ade13b1261445dae7298e8d9f1f101_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662711912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662711904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662711920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662711937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662711947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662711927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1130.8,503.3>? 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": "f4395dd8e4004f12a8dec3079a93d804_31ade13b1261445dae7298e8d9f1f101_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662711912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662711904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662711920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662711937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662711947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662711927893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1130.8,503.3>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "f4395dd8e4004f12a8dec3079a93d804_31ade13b1261445dae7298e8d9f1f101_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662711912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662711904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662711920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662711937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662711947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662711927893.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, turn left, or turn right."
            }
        ]
    },
    {
        "id": "f4395dd8e4004f12a8dec3079a93d804_31ade13b1261445dae7298e8d9f1f101_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662711912460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662711904844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662711920339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662711937525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662711947423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662711927893.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 fast."
            }
        ]
    },
    {
        "id": "15e1fa06e30e438a98430cc1fd0e8a69_d64f9d23a6ac4d808dde46bfaf7069d5_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915381512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915381504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915381519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915381537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915381547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915381527813.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 truck to the front left of the ego vehicle, a stationary pedestrian to the front left of the ego vehicle, a black sedan car to the back of the ego vehicle, a blue construction truck to the back left of the ego vehicle, and an orange construction vehicle to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1158.3,473.3>, <c2,CAM_FRONT_LEFT,535.1,446.6>, <c3,CAM_FRONT_LEFT,775.0,474.2>, <c4,CAM_BACK,654.2,427.5>, <c5,CAM_BACK_LEFT,552.5,477.5>, and <c6,CAM_FRONT_RIGHT,1475.8,546.7>."
            }
        ]
    },
    {
        "id": "15e1fa06e30e438a98430cc1fd0e8a69_d64f9d23a6ac4d808dde46bfaf7069d5_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915381512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915381504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915381519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915381537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915381547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915381527813.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c4,CAM_BACK,654.2,427.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "15e1fa06e30e438a98430cc1fd0e8a69_d64f9d23a6ac4d808dde46bfaf7069d5_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915381512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915381504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915381519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915381537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915381547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915381527813.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1158.3,473.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "15e1fa06e30e438a98430cc1fd0e8a69_d64f9d23a6ac4d808dde46bfaf7069d5_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915381512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915381504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915381519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915381537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915381547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915381527813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1158.3,473.3>? 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": "15e1fa06e30e438a98430cc1fd0e8a69_d64f9d23a6ac4d808dde46bfaf7069d5_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915381512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915381504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915381519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915381537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915381547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915381527813.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,535.1,446.6>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "15e1fa06e30e438a98430cc1fd0e8a69_d64f9d23a6ac4d808dde46bfaf7069d5_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915381512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915381504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915381519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915381537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915381547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915381527813.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, brake gently to a stop, decelerate gradually without braking, slightly offset to the right, change to the right lane."
            }
        ]
    },
    {
        "id": "15e1fa06e30e438a98430cc1fd0e8a69_d64f9d23a6ac4d808dde46bfaf7069d5_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915381512465.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915381504917.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915381519956.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915381537570.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915381547295.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915381527813.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": "cdeb0e85e43e481a87b2251351e10c2f_24488637f5c2431a98e6b7cfee3bf857_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800951412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800951404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800951420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800951437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800951447641.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800951427893.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 front of the ego vehicle, a person wearing a white shirt to the back of the ego vehicle, a gray business to the front of the ego vehicle, a red bus to the front right of the ego vehicle, a white sedan car to the back of the ego vehicle, and a white bus to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,830.0,522.5>, <c2,CAM_BACK,1445.8,540.8>, <c3,CAM_FRONT,346.7,479.2>, <c4,CAM_FRONT_RIGHT,175.7,463.0>, <c5,CAM_BACK,684.7,673.1>, and <c6,CAM_FRONT_LEFT,785.5,454.1>."
            }
        ]
    },
    {
        "id": "cdeb0e85e43e481a87b2251351e10c2f_24488637f5c2431a98e6b7cfee3bf857_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800951412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800951404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800951420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800951437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800951447641.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800951427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,830.0,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cdeb0e85e43e481a87b2251351e10c2f_24488637f5c2431a98e6b7cfee3bf857_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800951412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800951404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800951420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800951437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800951447641.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800951427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,830.0,522.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cdeb0e85e43e481a87b2251351e10c2f_24488637f5c2431a98e6b7cfee3bf857_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800951412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800951404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800951420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800951437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800951447641.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800951427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,830.0,522.5>? 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 probability."
            }
        ]
    },
    {
        "id": "cdeb0e85e43e481a87b2251351e10c2f_24488637f5c2431a98e6b7cfee3bf857_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800951412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800951404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800951420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800951437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800951447641.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800951427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,830.0,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "cdeb0e85e43e481a87b2251351e10c2f_24488637f5c2431a98e6b7cfee3bf857_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800951412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800951404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800951420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800951437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800951447641.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800951427893.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": "cdeb0e85e43e481a87b2251351e10c2f_24488637f5c2431a98e6b7cfee3bf857_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800951412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800951404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800951420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800951437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800951447641.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800951427893.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": "cdeb0e85e43e481a87b2251351e10c2f_421d83b3124146469b25b185fc90d74f_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800964862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800964854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800964870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800964887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800964897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800964877893.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 white truck to the back of the ego vehicle, a white SUV to the back left of the ego vehicle, and a blue and white coach to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,539.2,513.3>, <c2,CAM_BACK,638.4,652.5>, <c3,CAM_BACK_LEFT,990.8,690.0>, and <c4,CAM_FRONT_RIGHT,553.8,473.4>."
            }
        ]
    },
    {
        "id": "cdeb0e85e43e481a87b2251351e10c2f_421d83b3124146469b25b185fc90d74f_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800964862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800964854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800964870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800964887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800964897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800964877893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,539.2,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cdeb0e85e43e481a87b2251351e10c2f_421d83b3124146469b25b185fc90d74f_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800964862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800964854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800964870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800964887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800964897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800964877893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,539.2,513.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cdeb0e85e43e481a87b2251351e10c2f_421d83b3124146469b25b185fc90d74f_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800964862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800964854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800964870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800964887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800964897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800964877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,539.2,513.3>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "cdeb0e85e43e481a87b2251351e10c2f_421d83b3124146469b25b185fc90d74f_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800964862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800964854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800964870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800964887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800964897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800964877893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,539.2,513.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "cdeb0e85e43e481a87b2251351e10c2f_421d83b3124146469b25b185fc90d74f_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800964862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800964854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800964870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800964887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800964897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800964877893.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."
            }
        ]
    },
    {
        "id": "cdeb0e85e43e481a87b2251351e10c2f_421d83b3124146469b25b185fc90d74f_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800964862460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800964854844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800964870339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800964887525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800964897423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800964877893.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": "7937f7d56b5444fd8c55052460e23807_468923d607324e95b9f303b1dcd9e1e9_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299499912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299499904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299499920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299499937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299499947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299499928113.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 reverse to the back of the ego vehicle, and a person wearing a hat to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1388.3,490.0>, <c2,CAM_BACK,844.2,504.2>, and <c3,CAM_FRONT_LEFT,1311.7,526.7>."
            }
        ]
    },
    {
        "id": "7937f7d56b5444fd8c55052460e23807_468923d607324e95b9f303b1dcd9e1e9_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299499912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299499904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299499920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299499937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299499947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299499928113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,844.2,504.2>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "7937f7d56b5444fd8c55052460e23807_468923d607324e95b9f303b1dcd9e1e9_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299499912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299499904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299499920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299499937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299499947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299499928113.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 <c1,CAM_FRONT,1388.3,490.0>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT_LEFT,1311.7,526.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,844.2,504.2>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "7937f7d56b5444fd8c55052460e23807_468923d607324e95b9f303b1dcd9e1e9_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299499912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299499904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299499920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299499937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299499947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299499928113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1388.3,490.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "7937f7d56b5444fd8c55052460e23807_468923d607324e95b9f303b1dcd9e1e9_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299499912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299499904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299499920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299499937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299499947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299499928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1388.3,490.0>? 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": "7937f7d56b5444fd8c55052460e23807_468923d607324e95b9f303b1dcd9e1e9_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299499912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299499904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299499920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299499937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299499947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299499928113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1388.3,490.0>?"
            },
            {
                "from": "gpt",
                "value": "Moderate right turn."
            }
        ]
    },
    {
        "id": "7937f7d56b5444fd8c55052460e23807_468923d607324e95b9f303b1dcd9e1e9_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299499912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299499904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299499920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299499937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299499947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299499928113.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 continue forward."
            }
        ]
    },
    {
        "id": "7937f7d56b5444fd8c55052460e23807_468923d607324e95b9f303b1dcd9e1e9_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299499912404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299499904799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299499920482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299499937558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299499947405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299499928113.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": "dd61533869aa48f2aaa7e8a6418bdbe6_65b7811ca02e43f4a9c6b562eda11ff1_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884305762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884305754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884305770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884305787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884305797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884305777893.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 with a brown jacket to the front of the ego vehicle, a white truck to the front left of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,280.0,553.3>, <c2,CAM_FRONT_LEFT,617.5,450.8>, and <c3,CAM_FRONT,905.8,497.5>."
            }
        ]
    },
    {
        "id": "dd61533869aa48f2aaa7e8a6418bdbe6_65b7811ca02e43f4a9c6b562eda11ff1_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884305762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884305754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884305770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884305787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884305797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884305777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,280.0,553.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "dd61533869aa48f2aaa7e8a6418bdbe6_65b7811ca02e43f4a9c6b562eda11ff1_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884305762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884305754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884305770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884305787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884305797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884305777893.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 <c1,CAM_FRONT,280.0,553.3>. The object is going ahead, so the ego vehicle should slow down and continue going ahead. Secondly, notice that <c3,CAM_FRONT,905.8,497.5>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT_LEFT,617.5,450.8>. The object is stationary, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "dd61533869aa48f2aaa7e8a6418bdbe6_65b7811ca02e43f4a9c6b562eda11ff1_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884305762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884305754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884305770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884305787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884305797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884305777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,280.0,553.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "dd61533869aa48f2aaa7e8a6418bdbe6_65b7811ca02e43f4a9c6b562eda11ff1_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884305762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884305754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884305770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884305787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884305797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884305777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,280.0,553.3>? 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, which has a high probability."
            }
        ]
    },
    {
        "id": "dd61533869aa48f2aaa7e8a6418bdbe6_65b7811ca02e43f4a9c6b562eda11ff1_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884305762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884305754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884305770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884305787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884305797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884305777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,280.0,553.3>?"
            },
            {
                "from": "gpt",
                "value": "Moderate left turn."
            }
        ]
    },
    {
        "id": "dd61533869aa48f2aaa7e8a6418bdbe6_65b7811ca02e43f4a9c6b562eda11ff1_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884305762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884305754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884305770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884305787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884305797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884305777893.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": "dd61533869aa48f2aaa7e8a6418bdbe6_65b7811ca02e43f4a9c6b562eda11ff1_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884305762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884305754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884305770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884305787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884305797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884305777893.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_31b9172b327746e2a244336c4fe0d32c_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731390162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731390154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731390171088.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731390187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731390197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731390178136.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 preparing to cross the road to the front of the ego vehicle, a black sedan car to the back of the ego vehicle, a white van to the front left of the ego vehicle, a white sedan car to the front of the ego vehicle, and a black pickup truck to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,395.8,556.7>, <c2,CAM_BACK,570.5,675.6>, <c3,CAM_FRONT_LEFT,1133.3,505.0>, <c4,CAM_FRONT,947.5,510.8>, and <c5,CAM_BACK_LEFT,781.2,579.0>."
            }
        ]
    },
    {
        "id": "fd2d419d4cf84a2d84922b9b7d2cea4d_31b9172b327746e2a244336c4fe0d32c_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731390162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731390154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731390171088.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731390187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731390197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731390178136.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,570.5,675.6>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fd2d419d4cf84a2d84922b9b7d2cea4d_31b9172b327746e2a244336c4fe0d32c_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731390162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731390154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731390171088.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731390187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731390197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731390178136.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,395.8,556.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fd2d419d4cf84a2d84922b9b7d2cea4d_31b9172b327746e2a244336c4fe0d32c_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731390162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731390154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731390171088.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731390187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731390197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731390178136.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,395.8,556.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to turn left. The reason is to maintain a safe distance, which is high."
            }
        ]
    },
    {
        "id": "fd2d419d4cf84a2d84922b9b7d2cea4d_31b9172b327746e2a244336c4fe0d32c_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731390162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731390154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731390171088.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731390187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731390197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731390178136.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,395.8,556.7>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "fd2d419d4cf84a2d84922b9b7d2cea4d_31b9172b327746e2a244336c4fe0d32c_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731390162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731390154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731390171088.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731390187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731390197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731390178136.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": "fd2d419d4cf84a2d84922b9b7d2cea4d_31b9172b327746e2a244336c4fe0d32c_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731390162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731390154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731390171088.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731390187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731390197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731390178136.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": "b8be4950e73743a8841d545fcb145706_1cff7241a50e407d9433d3f976c9b3fa_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487972762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487972754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487972770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487972787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487972797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487972778113.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 white SUV to the back of the ego vehicle, and a man in a wheelchair to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,775.0,477.5>, <c2,CAM_BACK,875.8,551.7>, and <c3,CAM_FRONT,1020.0,546.0>."
            }
        ]
    },
    {
        "id": "b8be4950e73743a8841d545fcb145706_1cff7241a50e407d9433d3f976c9b3fa_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487972762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487972754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487972770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487972787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487972797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487972778113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,775.0,477.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "b8be4950e73743a8841d545fcb145706_1cff7241a50e407d9433d3f976c9b3fa_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487972762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487972754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487972770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487972787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487972797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487972778113.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 <c3,CAM_FRONT,1020.0,546.0>. The object is going ahead, so the ego vehicle should slow down and go ahead. Secondly, notice <c1,CAM_FRONT,775.0,477.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice <c2,CAM_BACK,875.8,551.7>. The object is going ahead, so the ego vehicle should slow down and go ahead."
            }
        ]
    },
    {
        "id": "b8be4950e73743a8841d545fcb145706_1cff7241a50e407d9433d3f976c9b3fa_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487972762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487972754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487972770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487972787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487972797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487972778113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,775.0,477.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "b8be4950e73743a8841d545fcb145706_1cff7241a50e407d9433d3f976c9b3fa_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487972762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487972754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487972770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487972787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487972797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487972778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,775.0,477.5>? 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": "b8be4950e73743a8841d545fcb145706_1cff7241a50e407d9433d3f976c9b3fa_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487972762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487972754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487972770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487972787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487972797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487972778113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,875.8,551.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "b8be4950e73743a8841d545fcb145706_1cff7241a50e407d9433d3f976c9b3fa_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487972762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487972754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487972770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487972787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487972797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487972778113.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": "Change to the left lane, slightly offset to the left, decelerate gradually without braking, and brake gently to a stop."
            }
        ]
    },
    {
        "id": "b8be4950e73743a8841d545fcb145706_1cff7241a50e407d9433d3f976c9b3fa_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487972762404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487972754799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487972770482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487972787558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487972797405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487972778113.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": "28db6ee9a8d34e9e88e741817b6733c1_27dca893fa474b20861cf18b03643213_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292830012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292830004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292830020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292830037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292830047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292830028113.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 back of the ego vehicle, a white commercial vehicle to the front of the ego vehicle, and a black small car to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,809.2,676.7>, <c2,CAM_FRONT,1354.6,426.7>, and <c3,CAM_BACK_LEFT,831.6,699.5>."
            }
        ]
    },
    {
        "id": "28db6ee9a8d34e9e88e741817b6733c1_27dca893fa474b20861cf18b03643213_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292830012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292830004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292830020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292830037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292830047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292830028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT,1354.6,426.7>?"
            },
            {
                "from": "gpt",
                "value": "Turn right."
            }
        ]
    },
    {
        "id": "28db6ee9a8d34e9e88e741817b6733c1_27dca893fa474b20861cf18b03643213_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292830012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292830004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292830020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292830037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292830047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292830028113.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 <c2,CAM_FRONT,1354.6,426.7>. The object is turning right, so the ego vehicle should stop. Secondly notice that <c3,CAM_BACK_LEFT,831.6,699.5>. The object is stationary, so the ego vehicle should stop. Thirdly notice that <c1,CAM_BACK,809.2,676.7>. The object is stationary, so the ego vehicle should stop."
            }
        ]
    },
    {
        "id": "28db6ee9a8d34e9e88e741817b6733c1_27dca893fa474b20861cf18b03643213_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292830012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292830004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292830020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292830037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292830047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292830028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,809.2,676.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "28db6ee9a8d34e9e88e741817b6733c1_27dca893fa474b20861cf18b03643213_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292830012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292830004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292830020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292830037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292830047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292830028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,809.2,676.7>? 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": "28db6ee9a8d34e9e88e741817b6733c1_27dca893fa474b20861cf18b03643213_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292830012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292830004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292830020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292830037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292830047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292830028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,809.2,676.7>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "28db6ee9a8d34e9e88e741817b6733c1_27dca893fa474b20861cf18b03643213_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292830012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292830004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292830020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292830037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292830047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292830028113.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 slightly offset to the right."
            }
        ]
    },
    {
        "id": "28db6ee9a8d34e9e88e741817b6733c1_27dca893fa474b20861cf18b03643213_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292830012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292830004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292830020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292830037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292830047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292830028113.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": "555c691be4704ef29559373e031441dd_ff3e3930bbef4b45bcf49169fc66d752_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573619362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573619354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573619370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573619387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573619397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573619378113.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 man with a green shirt to the front of the ego vehicle, a black car to the back of the ego vehicle, a gray SUV to the front of the ego vehicle, and a white truck to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1116.7,517.5>, <c2,CAM_BACK,765.0,675.0>, <c3,CAM_FRONT,846.7,580.0>, and <c4,CAM_FRONT_RIGHT,1396.5,717.9>."
            }
        ]
    },
    {
        "id": "555c691be4704ef29559373e031441dd_ff3e3930bbef4b45bcf49169fc66d752_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573619362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573619354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573619370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573619387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573619397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573619378113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,1116.7,517.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "555c691be4704ef29559373e031441dd_ff3e3930bbef4b45bcf49169fc66d752_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573619362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573619354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573619370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573619387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573619397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573619378113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1116.7,517.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "555c691be4704ef29559373e031441dd_ff3e3930bbef4b45bcf49169fc66d752_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573619362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573619354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573619370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573619387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573619397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573619378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1116.7,517.5>? 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, and the probability is high."
            }
        ]
    },
    {
        "id": "555c691be4704ef29559373e031441dd_ff3e3930bbef4b45bcf49169fc66d752_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573619362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573619354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573619370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573619387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573619397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573619378113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1116.7,517.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "555c691be4704ef29559373e031441dd_ff3e3930bbef4b45bcf49169fc66d752_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573619362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573619354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573619370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573619387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573619397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573619378113.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; brake suddenly."
            }
        ]
    },
    {
        "id": "555c691be4704ef29559373e031441dd_ff3e3930bbef4b45bcf49169fc66d752_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573619362404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573619354799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573619370482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573619387558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573619397405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573619378113.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": "78f63999591a49a195b872ddc368a146_e3c00b12861547c78cd540f422fed650_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449252354879.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449252377893.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 white sedan car to the back of the ego vehicle, a silver van to the front right of the ego vehicle, and a white van to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,725.8,531.7>, <c2,CAM_BACK,545.8,579.2>, <c3,CAM_FRONT_RIGHT,916.6,648.3>, and <c4,CAM_BACK,848.3,530.8>."
            }
        ]
    },
    {
        "id": "78f63999591a49a195b872ddc368a146_e3c00b12861547c78cd540f422fed650_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449252354879.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449252377893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,725.8,531.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "78f63999591a49a195b872ddc368a146_e3c00b12861547c78cd540f422fed650_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449252354879.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449252377893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,725.8,531.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "78f63999591a49a195b872ddc368a146_e3c00b12861547c78cd540f422fed650_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449252354879.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449252377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,725.8,531.7>? 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": "78f63999591a49a195b872ddc368a146_e3c00b12861547c78cd540f422fed650_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449252354879.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449252377893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,725.8,531.7>?"
            },
            {
                "from": "gpt",
                "value": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,725.8,531.7>."
            }
        ]
    },
    {
        "id": "78f63999591a49a195b872ddc368a146_e3c00b12861547c78cd540f422fed650_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449252354879.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449252377893.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 decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "78f63999591a49a195b872ddc368a146_e3c00b12861547c78cd540f422fed650_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449252362460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449252354879.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449252370339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449252387525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449252397423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449252377893.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": "90d616aaefc4429380388205ebb23398_f3c133e463624f328afeee503cd54425_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281201762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281201754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281201770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281201787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281201797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281201777893.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 unknown to the back of the ego vehicle, a white motorcycle to the front left of the ego vehicle, and a white straight arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,791.7,499.2>, <c2,CAM_FRONT_LEFT,327.2,684.3>, and <c3,CAM_FRONT,781.9,537.3>."
            }
        ]
    },
    {
        "id": "90d616aaefc4429380388205ebb23398_f3c133e463624f328afeee503cd54425_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281201762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281201754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281201770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281201787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281201797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281201777893.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 <c3,CAM_FRONT,781.9,537.3>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT_LEFT,327.2,684.3>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,791.7,499.2>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "90d616aaefc4429380388205ebb23398_f3c133e463624f328afeee503cd54425_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281201762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281201754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281201770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281201787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281201797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281201777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,791.7,499.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "90d616aaefc4429380388205ebb23398_f3c133e463624f328afeee503cd54425_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281201762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281201754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281201770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281201787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281201797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281201777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_FRONT_LEFT,327.2,684.3>? 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": "90d616aaefc4429380388205ebb23398_f3c133e463624f328afeee503cd54425_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281201762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281201754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281201770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281201787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281201797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281201777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,327.2,684.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "90d616aaefc4429380388205ebb23398_f3c133e463624f328afeee503cd54425_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281201762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281201754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281201770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281201787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281201797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281201777893.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, or decelerate gradually without braking."
            }
        ]
    },
    {
        "id": "90d616aaefc4429380388205ebb23398_f3c133e463624f328afeee503cd54425_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281201762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281201754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281201770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281201787525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281201797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281201777893.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": "90d616aaefc4429380388205ebb23398_0f4a58cf33a04d4a844a03e57a7a5ac7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281206762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281206754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281206770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281206787529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281206797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281206777893.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 car to the front of the ego vehicle, a white tricycle to the back of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,890.7,476.7>, <c2,CAM_BACK,881.7,511.7>, and <c3,CAM_FRONT,831.2,482.1>."
            }
        ]
    },
    {
        "id": "90d616aaefc4429380388205ebb23398_0f4a58cf33a04d4a844a03e57a7a5ac7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281206762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281206754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281206770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281206787529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281206797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281206777893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,890.7,476.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "90d616aaefc4429380388205ebb23398_0f4a58cf33a04d4a844a03e57a7a5ac7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281206762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281206754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281206770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281206787529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281206797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281206777893.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 <c3,CAM_FRONT,831.2,482.1>; it is stationary, so the ego vehicle should slightly offset to the right in maneuvering. Secondly notice that <c1,CAM_FRONT,890.7,476.7>; it is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK,881.7,511.7>; it is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "90d616aaefc4429380388205ebb23398_0f4a58cf33a04d4a844a03e57a7a5ac7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281206762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281206754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281206770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281206787529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281206797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281206777893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,890.7,476.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "90d616aaefc4429380388205ebb23398_0f4a58cf33a04d4a844a03e57a7a5ac7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281206762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281206754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281206770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281206787529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281206797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281206777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,890.7,476.7>? 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 of taking this action is high."
            }
        ]
    },
    {
        "id": "90d616aaefc4429380388205ebb23398_0f4a58cf33a04d4a844a03e57a7a5ac7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281206762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281206754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281206770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281206787529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281206797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281206777893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,890.7,476.7>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "90d616aaefc4429380388205ebb23398_0f4a58cf33a04d4a844a03e57a7a5ac7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281206762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281206754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281206770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281206787529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281206797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281206777893.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": "90d616aaefc4429380388205ebb23398_0f4a58cf33a04d4a844a03e57a7a5ac7_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281206762460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281206754844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281206770339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281206787529.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281206797423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281206777893.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": "cc9d6954dc6448359fc1e8aeafc5f760_810917697308493fa9394b2ce982df57_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385473112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385473104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385473120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385473137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385473147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385473128113.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 small car to the back of the ego vehicle, a black small car to the back right of the ego vehicle, and a black small car to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,566.7,553.3>, <c2,CAM_BACK_RIGHT,1410.0,586.7>, and <c3,CAM_BACK_LEFT,503.3,530.0>."
            }
        ]
    },
    {
        "id": "cc9d6954dc6448359fc1e8aeafc5f760_810917697308493fa9394b2ce982df57_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385473112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385473104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385473120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385473137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385473147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385473128113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,566.7,553.3>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "cc9d6954dc6448359fc1e8aeafc5f760_810917697308493fa9394b2ce982df57_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385473112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385473104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385473120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385473137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385473147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385473128113.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 <c1,CAM_BACK,566.7,553.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c3,CAM_BACK_LEFT,503.3,530.0>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c2,CAM_BACK_RIGHT,1410.0,586.7>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "cc9d6954dc6448359fc1e8aeafc5f760_810917697308493fa9394b2ce982df57_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385473112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385473104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385473120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385473137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385473147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385473128113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,566.7,553.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "cc9d6954dc6448359fc1e8aeafc5f760_810917697308493fa9394b2ce982df57_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385473112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385473104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385473120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385473137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385473147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385473128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,566.7,553.3>? 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": "cc9d6954dc6448359fc1e8aeafc5f760_810917697308493fa9394b2ce982df57_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385473112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385473104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385473120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385473137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385473147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385473128113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,566.7,553.3>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "cc9d6954dc6448359fc1e8aeafc5f760_810917697308493fa9394b2ce982df57_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385473112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385473104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385473120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385473137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385473147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385473128113.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": "cc9d6954dc6448359fc1e8aeafc5f760_810917697308493fa9394b2ce982df57_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385473112404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385473104799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385473120482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385473137558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385473147405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385473128113.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": "2d8e61ea27fd419ba9b708488e3f2f10_bf9f5c1df8464d138d75fb6b0e63ec6b_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728819862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728819855114.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728819870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728819887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728819897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728819878113.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 right of the ego vehicle, a gray SUV to the back left of the ego vehicle, a blue sedan to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,1228.3,459.2>, <c2,CAM_BACK_LEFT,1165.0,575.8>, <c3,CAM_FRONT,331.7,566.7>, and <c4,CAM_FRONT,1067.5,430.0>."
            }
        ]
    },
    {
        "id": "2d8e61ea27fd419ba9b708488e3f2f10_bf9f5c1df8464d138d75fb6b0e63ec6b_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728819862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728819855114.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728819870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728819887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728819897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728819878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,331.7,566.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2d8e61ea27fd419ba9b708488e3f2f10_bf9f5c1df8464d138d75fb6b0e63ec6b_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728819862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728819855114.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728819870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728819887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728819897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728819878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,1228.3,459.2> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2d8e61ea27fd419ba9b708488e3f2f10_bf9f5c1df8464d138d75fb6b0e63ec6b_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728819862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728819855114.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728819870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728819887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728819897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728819878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,1228.3,459.2>? 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 low."
            }
        ]
    },
    {
        "id": "2d8e61ea27fd419ba9b708488e3f2f10_bf9f5c1df8464d138d75fb6b0e63ec6b_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728819862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728819855114.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728819870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728819887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728819897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728819878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,1228.3,459.2>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "2d8e61ea27fd419ba9b708488e3f2f10_bf9f5c1df8464d138d75fb6b0e63ec6b_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728819862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728819855114.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728819870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728819887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728819897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728819878113.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": "2d8e61ea27fd419ba9b708488e3f2f10_bf9f5c1df8464d138d75fb6b0e63ec6b_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728819862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728819855114.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728819870492.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728819887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728819897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728819878113.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": "2d8e61ea27fd419ba9b708488e3f2f10_abf6f5d770c749a78e9de215fa8b5bbe_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728818862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728818854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728818870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728818887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728818897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728818878113.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 road to the front of the ego vehicle, a black sedan car to the front of the ego vehicle, a white truck to the front of the ego vehicle, and a slow down sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,785.0,522.5>, <c2,CAM_FRONT,591.7,544.2>, <c3,CAM_FRONT,80.0,480.8>, and <c4,CAM_FRONT_RIGHT,645.0,416.6>."
            }
        ]
    },
    {
        "id": "2d8e61ea27fd419ba9b708488e3f2f10_abf6f5d770c749a78e9de215fa8b5bbe_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728818862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728818854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728818870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728818887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728818897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728818878113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT,785.0,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2d8e61ea27fd419ba9b708488e3f2f10_abf6f5d770c749a78e9de215fa8b5bbe_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728818862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728818854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728818870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728818887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728818897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728818878113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,785.0,522.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2d8e61ea27fd419ba9b708488e3f2f10_abf6f5d770c749a78e9de215fa8b5bbe_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728818862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728818854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728818870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728818887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728818897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728818878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,785.0,522.5>? 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": "2d8e61ea27fd419ba9b708488e3f2f10_abf6f5d770c749a78e9de215fa8b5bbe_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728818862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728818854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728818870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728818887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728818897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728818878113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,785.0,522.5>?"
            },
            {
                "from": "gpt",
                "value": "Accelerating and going straight."
            }
        ]
    },
    {
        "id": "2d8e61ea27fd419ba9b708488e3f2f10_abf6f5d770c749a78e9de215fa8b5bbe_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728818862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728818854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728818870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728818887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728818897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728818878113.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": "2d8e61ea27fd419ba9b708488e3f2f10_abf6f5d770c749a78e9de215fa8b5bbe_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728818862404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728818854799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728818870482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728818887558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728818897405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728818878113.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": "e3d714da71d2477695a055716ede7130_44b46394ca774a44b1f9d889a0def5fd_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287161412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287161404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287161420486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287161437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287161447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287161428113.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 pickup truck to the front left of the ego vehicle, a white pickup truck to the front left of the ego vehicle, a black SUV to the front right of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,1361.7,515.0>, <c2,CAM_FRONT_LEFT,915.0,525.0>, <c3,CAM_FRONT_RIGHT,500.0,649.2>, and <c4,CAM_FRONT,1052.5,497.5>."
            }
        ]
    },
    {
        "id": "e3d714da71d2477695a055716ede7130_44b46394ca774a44b1f9d889a0def5fd_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287161412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287161404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287161420486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287161437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287161447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287161428113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,1361.7,515.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "e3d714da71d2477695a055716ede7130_44b46394ca774a44b1f9d889a0def5fd_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287161412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287161404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287161420486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287161437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287161447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287161428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,1361.7,515.0>? 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": "e3d714da71d2477695a055716ede7130_44b46394ca774a44b1f9d889a0def5fd_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287161412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287161404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287161420486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287161437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287161447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287161428113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,1361.7,515.0>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "e3d714da71d2477695a055716ede7130_44b46394ca774a44b1f9d889a0def5fd_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287161412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287161404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287161420486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287161437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287161447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287161428113.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": "e3d714da71d2477695a055716ede7130_44b46394ca774a44b1f9d889a0def5fd_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287161412404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287161404799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287161420486.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287161437558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287161447405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287161428113.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": "17302a41218442ffbb0b094adb0669ab_072f15feb492466fb2c4536cb8445ede_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280168162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280168154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280168170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280168187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280168197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280168177893.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 bus to the front right of the ego vehicle, a no pedestrians to the front left of the ego vehicle, and a yellow bicycle to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,916.1,477.5>, <c2,CAM_FRONT_LEFT,1060.0,519.2>, and <c3,CAM_BACK_LEFT,953.3,567.5>."
            }
        ]
    },
    {
        "id": "17302a41218442ffbb0b094adb0669ab_072f15feb492466fb2c4536cb8445ede_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280168162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280168154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280168170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280168187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280168197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280168177893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_RIGHT,916.1,477.5>?"
            },
            {
                "from": "gpt",
                "value": "Turn left."
            }
        ]
    },
    {
        "id": "17302a41218442ffbb0b094adb0669ab_072f15feb492466fb2c4536cb8445ede_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280168162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280168154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280168170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280168187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280168197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280168177893.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 <c2,CAM_FRONT_LEFT,1060.0,519.2>, it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c1,CAM_FRONT_RIGHT,916.1,477.5>, the object is turning left, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c3,CAM_BACK_LEFT,953.3,567.5>, it is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "17302a41218442ffbb0b094adb0669ab_072f15feb492466fb2c4536cb8445ede_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280168162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280168154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280168170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280168187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280168197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280168177893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,916.1,477.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "17302a41218442ffbb0b094adb0669ab_072f15feb492466fb2c4536cb8445ede_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280168162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280168154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280168170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280168187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280168197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280168177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,916.1,477.5>? 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": "17302a41218442ffbb0b094adb0669ab_072f15feb492466fb2c4536cb8445ede_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280168162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280168154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280168170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280168187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280168197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280168177893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_BACK_LEFT,953.3,567.5>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "17302a41218442ffbb0b094adb0669ab_072f15feb492466fb2c4536cb8445ede_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280168162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280168154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280168170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280168187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280168197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280168177893.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, and brake gently to a stop."
            }
        ]
    },
    {
        "id": "17302a41218442ffbb0b094adb0669ab_072f15feb492466fb2c4536cb8445ede_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280168162460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280168154844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280168170339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280168187525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280168197423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280168177893.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": "17302a41218442ffbb0b094adb0669ab_e91815e429dc428f96179d30e4811826_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280165662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280165654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280165670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280165687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280165697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280165677893.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 bicycle to the back of the ego vehicle, a white van to the front right of the ego vehicle, a pedestrian preparing to cross the road to the front of the ego vehicle, a white van to the back of the ego vehicle, and a white van to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1270.0,595.0>, <c2,CAM_FRONT_RIGHT,480.8,560.8>, <c3,CAM_FRONT,123.3,500.0>, <c4,CAM_BACK,366.7,523.3>, and <c5,CAM_BACK_RIGHT,548.3,654.2>."
            }
        ]
    },
    {
        "id": "17302a41218442ffbb0b094adb0669ab_e91815e429dc428f96179d30e4811826_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280165662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280165654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280165670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280165687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280165697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280165677893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,480.8,560.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "17302a41218442ffbb0b094adb0669ab_e91815e429dc428f96179d30e4811826_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280165662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280165654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280165670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280165687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280165697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280165677893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,1270.0,595.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "17302a41218442ffbb0b094adb0669ab_e91815e429dc428f96179d30e4811826_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280165662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280165654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280165670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280165687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280165697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280165677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,1270.0,595.0>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "17302a41218442ffbb0b094adb0669ab_e91815e429dc428f96179d30e4811826_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280165662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280165654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280165670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280165687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280165697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280165677893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,1270.0,595.0>?"
            },
            {
                "from": "gpt",
                "value": "No such action will lead to a collision."
            }
        ]
    },
    {
        "id": "17302a41218442ffbb0b094adb0669ab_e91815e429dc428f96179d30e4811826_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280165662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280165654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280165670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280165687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280165697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280165677893.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": "17302a41218442ffbb0b094adb0669ab_e91815e429dc428f96179d30e4811826_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280165662460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280165654844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280165670339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280165687525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280165697423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280165677893.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": "212fd4c9c9174635a7ec76051c8eec9e_0a9aa73741cf4889b61eaae1302ec933_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986228112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986228104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986228120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986228137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986228147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986228127893.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 on the roadside to the front left of the ego vehicle, pedestrians on the roadside to the front of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,702.5,590.0>, <c2,CAM_FRONT,653.3,494.2>, and <c3,CAM_BACK,703.3,528.3>."
            }
        ]
    },
    {
        "id": "212fd4c9c9174635a7ec76051c8eec9e_0a9aa73741cf4889b61eaae1302ec933_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986228112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986228104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986228120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986228137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986228147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986228127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_FRONT_LEFT,702.5,590.0>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "212fd4c9c9174635a7ec76051c8eec9e_0a9aa73741cf4889b61eaae1302ec933_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986228112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986228104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986228120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986228137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986228147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986228127893.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 <c1,CAM_FRONT_LEFT,702.5,590.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,653.3,494.2>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_BACK,703.3,528.3>. The object is stationary, so the ego vehicle should keep going ahead at the same speed."
            }
        ]
    },
    {
        "id": "212fd4c9c9174635a7ec76051c8eec9e_0a9aa73741cf4889b61eaae1302ec933_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986228112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986228104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986228120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986228137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986228147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986228127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,702.5,590.0> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "212fd4c9c9174635a7ec76051c8eec9e_0a9aa73741cf4889b61eaae1302ec933_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986228112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986228104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986228120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986228137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986228147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986228127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,702.5,590.0>? 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 highly probable."
            }
        ]
    },
    {
        "id": "212fd4c9c9174635a7ec76051c8eec9e_0a9aa73741cf4889b61eaae1302ec933_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986228112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986228104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986228120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986228137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986228147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986228127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,702.5,590.0>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "212fd4c9c9174635a7ec76051c8eec9e_0a9aa73741cf4889b61eaae1302ec933_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986228112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986228104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986228120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986228137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986228147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986228127893.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, or brake gently to a stop."
            }
        ]
    },
    {
        "id": "212fd4c9c9174635a7ec76051c8eec9e_0a9aa73741cf4889b61eaae1302ec933_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986228112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986228104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986228120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986228137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986228147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986228127893.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": "fe4fdd7a28754baeac7074ad78f55a52_8f4d3fb0381d4125950c0120a6982db4_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800630112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800630104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800630120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800630137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800630147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800630127893.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 unknown to the front of the ego vehicle, a person wearing a red shirt to the front of the ego vehicle, and a unknown to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,589.2,573.3>, <c2,CAM_FRONT,1216.7,556.7>, <c3,CAM_FRONT,581.7,611.7>, and <c4,CAM_FRONT,1010.0,520.0>."
            }
        ]
    },
    {
        "id": "fe4fdd7a28754baeac7074ad78f55a52_8f4d3fb0381d4125950c0120a6982db4_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800630112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800630104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800630120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800630137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800630147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800630127893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c3,CAM_FRONT,581.7,611.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "fe4fdd7a28754baeac7074ad78f55a52_8f4d3fb0381d4125950c0120a6982db4_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800630112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800630104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800630120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800630137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800630147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800630127893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,589.2,573.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "fe4fdd7a28754baeac7074ad78f55a52_8f4d3fb0381d4125950c0120a6982db4_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800630112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800630104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800630120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800630137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800630147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800630127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,589.2,573.3>? 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 of this action is high."
            }
        ]
    },
    {
        "id": "fe4fdd7a28754baeac7074ad78f55a52_8f4d3fb0381d4125950c0120a6982db4_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800630112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800630104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800630120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800630137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800630147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800630127893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,589.2,573.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight left turn."
            }
        ]
    },
    {
        "id": "fe4fdd7a28754baeac7074ad78f55a52_8f4d3fb0381d4125950c0120a6982db4_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800630112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800630104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800630120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800630137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800630147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800630127893.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": "fe4fdd7a28754baeac7074ad78f55a52_8f4d3fb0381d4125950c0120a6982db4_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800630112460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800630104844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800630120339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800630137525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800630147423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800630127893.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": "453453c849304ad69741891946d46453_d7c32c8d9f014ddcb1984ae20a7544f7_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289967162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289967154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289967170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289967187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289967197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289967178113.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 and white traffic cone to the front right of the ego vehicle, a black commercial vehicle to the back of the ego vehicle, a silver sedan to the back of the ego vehicle, a black car to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,315.8,804.4>, <c2,CAM_BACK,1385.3,631.7>, <c3,CAM_BACK,934.2,642.5>, <c4,CAM_FRONT_LEFT,535.8,766.4>, <c5,CAM_FRONT,1322.5,487.5>, and <c6,CAM_FRONT,831.0,373.3>."
            }
        ]
    },
    {
        "id": "453453c849304ad69741891946d46453_d7c32c8d9f014ddcb1984ae20a7544f7_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289967162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289967154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289967170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289967187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289967197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289967178113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c5,CAM_FRONT,1322.5,487.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "453453c849304ad69741891946d46453_d7c32c8d9f014ddcb1984ae20a7544f7_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289967162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289967154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289967170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289967187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289967197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289967178113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_RIGHT,315.8,804.4> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "453453c849304ad69741891946d46453_d7c32c8d9f014ddcb1984ae20a7544f7_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289967162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289967154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289967170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289967187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289967197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289967178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_BACK,1385.3,631.7>? Why take this action and what's the probability?"
            },
            {
                "from": "gpt",
                "value": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is high."
            }
        ]
    },
    {
        "id": "453453c849304ad69741891946d46453_d7c32c8d9f014ddcb1984ae20a7544f7_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289967162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289967154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289967170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289967187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289967197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289967178113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_BACK,934.2,642.5>?"
            },
            {
                "from": "gpt",
                "value": "Back up."
            }
        ]
    },
    {
        "id": "453453c849304ad69741891946d46453_d7c32c8d9f014ddcb1984ae20a7544f7_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289967162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289967154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289967170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289967187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289967197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289967178113.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 right."
            }
        ]
    },
    {
        "id": "453453c849304ad69741891946d46453_d7c32c8d9f014ddcb1984ae20a7544f7_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289967162404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289967154799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289967170482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289967187558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289967197405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289967178113.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": "2f0e54af35964a3fb347359836bec035_e7080b204c77441bb6d2e845b58b8699_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659341012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659341004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659341020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659341037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659341047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659341028113.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 left of the ego vehicle, a people crossing the road to the front right of the ego vehicle, a black sedan to the back of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,877.5,535.8>, <c2,CAM_FRONT_RIGHT,1023.3,495.8>, <c3,CAM_BACK,841.5,511.7>, and <c4,CAM_FRONT,913.3,473.3>."
            }
        ]
    },
    {
        "id": "2f0e54af35964a3fb347359836bec035_e7080b204c77441bb6d2e845b58b8699_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659341012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659341004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659341020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659341037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659341047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659341028113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_RIGHT,1023.3,495.8>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "2f0e54af35964a3fb347359836bec035_e7080b204c77441bb6d2e845b58b8699_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659341012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659341004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659341020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659341037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659341047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659341028113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT_LEFT,877.5,535.8> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "2f0e54af35964a3fb347359836bec035_e7080b204c77441bb6d2e845b58b8699_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659341012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659341004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659341020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659341037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659341047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659341028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,877.5,535.8>? 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 is high."
            }
        ]
    },
    {
        "id": "2f0e54af35964a3fb347359836bec035_e7080b204c77441bb6d2e845b58b8699_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659341012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659341004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659341020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659341037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659341047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659341028113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,877.5,535.8>?"
            },
            {
                "from": "gpt",
                "value": "Sharp left turn."
            }
        ]
    },
    {
        "id": "2f0e54af35964a3fb347359836bec035_e7080b204c77441bb6d2e845b58b8699_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659341012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659341004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659341020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659341037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659341047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659341028113.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": "2f0e54af35964a3fb347359836bec035_e7080b204c77441bb6d2e845b58b8699_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659341012404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659341004799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659341020482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659341037558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659341047405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659341028113.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": "d95a36c034344ae2ac11daf2ba1b2c60_b6290b4c16d54667a747c59ec927288d_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656640262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656640254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656640270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656640287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656640297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656640278113.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 white truck to the front left of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1458.3,603.3>, <c2,CAM_FRONT_LEFT,935.0,386.7>, and <c3,CAM_FRONT,506.7,530.8>."
            }
        ]
    },
    {
        "id": "d95a36c034344ae2ac11daf2ba1b2c60_b6290b4c16d54667a747c59ec927288d_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656640262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656640254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656640270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656640287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656640297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656640278113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_FRONT_LEFT,935.0,386.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d95a36c034344ae2ac11daf2ba1b2c60_b6290b4c16d54667a747c59ec927288d_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656640262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656640254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656640270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656640287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656640297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656640278113.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 <c2,CAM_FRONT_LEFT,935.0,386.7>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,1458.3,603.3>. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,506.7,530.8>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed."
            }
        ]
    },
    {
        "id": "d95a36c034344ae2ac11daf2ba1b2c60_b6290b4c16d54667a747c59ec927288d_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656640262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656640254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656640270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656640287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656640297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656640278113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1458.3,603.3> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d95a36c034344ae2ac11daf2ba1b2c60_b6290b4c16d54667a747c59ec927288d_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656640262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656640254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656640270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656640287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656640297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656640278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_FRONT,1458.3,603.3>? 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": "d95a36c034344ae2ac11daf2ba1b2c60_b6290b4c16d54667a747c59ec927288d_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656640262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656640254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656640270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656640287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656640297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656640278113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,1458.3,603.3>?"
            },
            {
                "from": "gpt",
                "value": "Slight right turn."
            }
        ]
    },
    {
        "id": "d95a36c034344ae2ac11daf2ba1b2c60_b6290b4c16d54667a747c59ec927288d_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656640262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656640254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656640270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656640287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656640297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656640278113.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": "d95a36c034344ae2ac11daf2ba1b2c60_b6290b4c16d54667a747c59ec927288d_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656640262404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656640254799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656640270482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656640287558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656640297405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656640278113.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": "d90b94e8bfd446cd9407f48665122268_a1469f29c0a0477d84bd1251c3ef9b56_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113019412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113019404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113019420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113019437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113019447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113019427893.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 white truck to the back left of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,845.0,537.5>, <c2,CAM_BACK_LEFT,1295.0,475.0>, and <c3,CAM_FRONT,1235.0,571.7>."
            }
        ]
    },
    {
        "id": "d90b94e8bfd446cd9407f48665122268_a1469f29c0a0477d84bd1251c3ef9b56_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113019412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113019404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113019420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113019437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113019447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113019427893.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c1,CAM_BACK,845.0,537.5>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "d90b94e8bfd446cd9407f48665122268_a1469f29c0a0477d84bd1251c3ef9b56_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113019412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113019404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113019420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113019437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113019447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113019427893.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 <c3,CAM_FRONT,1235.0,571.7>. The object is turning right, so the ego vehicle should continue straight at the same speed. Secondly, notice <c1,CAM_BACK,845.0,537.5>. The object is going ahead, so the ego vehicle should continue straight at the same speed. Thirdly, notice <c2,CAM_BACK_LEFT,1295.0,475.0>. The object is going ahead, so the ego vehicle should continue straight at the same speed."
            }
        ]
    },
    {
        "id": "d90b94e8bfd446cd9407f48665122268_a1469f29c0a0477d84bd1251c3ef9b56_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113019412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113019404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113019420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113019437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113019447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113019427893.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_BACK,845.0,537.5> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "No."
            }
        ]
    },
    {
        "id": "d90b94e8bfd446cd9407f48665122268_a1469f29c0a0477d84bd1251c3ef9b56_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113019412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113019404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113019420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113019437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113019447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113019427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c1,CAM_BACK,845.0,537.5>? 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 taking this action is high."
            }
        ]
    },
    {
        "id": "d90b94e8bfd446cd9407f48665122268_a1469f29c0a0477d84bd1251c3ef9b56_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113019412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113019404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113019420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113019437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113019447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113019427893.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,845.0,537.5>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "d90b94e8bfd446cd9407f48665122268_a1469f29c0a0477d84bd1251c3ef9b56_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113019412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113019404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113019420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113019437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113019447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113019427893.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, brake gently to stop."
            }
        ]
    },
    {
        "id": "d90b94e8bfd446cd9407f48665122268_a1469f29c0a0477d84bd1251c3ef9b56_7",
        "image": [
            "nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113019412460.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113019404844.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113019420339.jpg",
            "nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113019437525.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113019447423.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113019427893.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": "70c3b2f2b1f3403083fd44d06cc5abe0_6508eb1851bb4b23becc9803e3354114_0",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487999612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487999604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487999620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487999637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487999647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487999628113.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 cone bucket to the front of the ego vehicle, a white SUV to the back of the ego vehicle, a white van to the front of the ego vehicle, a gray SUV to the front left of the ego vehicle, a bus to the back of the ego vehicle, and a person in a wheelchair to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1487.5,621.7>, <c2,CAM_BACK,789.2,536.7>, <c3,CAM_FRONT,972.5,490.8>, <c4,CAM_FRONT_LEFT,1181.7,540.8>, <c5,CAM_BACK,987.5,485.0>, and <c6,CAM_FRONT,888.1,538.8>."
            }
        ]
    },
    {
        "id": "70c3b2f2b1f3403083fd44d06cc5abe0_6508eb1851bb4b23becc9803e3354114_1",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487999612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487999604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487999620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487999637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487999647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487999628113.jpg"
        ],
        "tag": 0,
        "task": "perception",
        "conversations": [
            {
                "from": "human",
                "value": "What is the moving status of object <c2,CAM_BACK,789.2,536.7>?"
            },
            {
                "from": "gpt",
                "value": "Going ahead."
            }
        ]
    },
    {
        "id": "70c3b2f2b1f3403083fd44d06cc5abe0_6508eb1851bb4b23becc9803e3354114_2",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487999612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487999604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487999620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487999637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487999647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487999628113.jpg"
        ],
        "tag": 0,
        "task": "prediction",
        "conversations": [
            {
                "from": "human",
                "value": "Is <c1,CAM_FRONT,1487.5,621.7> a traffic sign or a road barrier?"
            },
            {
                "from": "gpt",
                "value": "Yes."
            }
        ]
    },
    {
        "id": "70c3b2f2b1f3403083fd44d06cc5abe0_6508eb1851bb4b23becc9803e3354114_3",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487999612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487999604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487999620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487999637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487999647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487999628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions could the ego vehicle take based on <c2,CAM_BACK,789.2,536.7>? 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": "70c3b2f2b1f3403083fd44d06cc5abe0_6508eb1851bb4b23becc9803e3354114_4",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487999612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487999604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487999620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487999637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487999647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487999628113.jpg"
        ],
        "tag": 1,
        "task": "planning",
        "conversations": [
            {
                "from": "human",
                "value": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,789.2,536.7>?"
            },
            {
                "from": "gpt",
                "value": "Brake suddenly."
            }
        ]
    },
    {
        "id": "70c3b2f2b1f3403083fd44d06cc5abe0_6508eb1851bb4b23becc9803e3354114_5",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487999612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487999604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487999620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487999637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487999647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487999628113.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": "70c3b2f2b1f3403083fd44d06cc5abe0_6508eb1851bb4b23becc9803e3354114_6",
        "image": [
            "nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487999612404.jpg",
            "nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487999604799.jpg",
            "nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487999620482.jpg",
            "nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487999637558.jpg",
            "nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487999647405.jpg",
            "nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487999628113.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."
            }
        ]
    }
]